Novak Djokovic shows his frustration as Serbia lose to Germany in the Davis Cup Finals, despite the world number one playing twice in the tie ©Getty Images

A Serbian side featuring men’s world number one Novak Djokovic, playing in both the singles and doubles rubbers, lost their latest Davis Cup Finals group match to Germany in Innsbruck, Austria.

Dominik Koepfer won the first singles rubber of the Group F tie beating Filip Krajinović 7-6, 6-4 before Djokovic levelled the match by beating Jan-Lennard Struff 6-2, 6-4.

Djokovic then played in the doubles rubber alongside Nikola Ćaćić but the pair were defeated by Kevin Krawietz and Tim Puetz 7-6, 3-6, 7-6.

Elsewhere Australia defeated Hungary 2-1 in an exciting Group D tie in Turin, Italy, which saw all matches go to three sets.

Australia had to come from behind after world number 282 Zsombor Piros sprung an upset by defeating John Millman, the world number 73, 4-6, 6-4, 6-3.

Alex De Minaur levelled the tie by beating Marton Fucsovics 7-5, 2-6, 7-6, in a contest that lasted just over three hours, before Alex Bolt and John Peers secured victory for Australia in the doubles rubber 6-3, 6-7, 6-3 against Fabian Marozsan and Piros.

Cameron Norrie secured Britain victory in their Davis Cup Finals group match with France ©Getty Images
Cameron Norrie secured Britain victory in their Davis Cup Finals group match with France ©Getty Images

In Group C, contested in Innsbruck, Britain won their first match by defeating France 2-1, with victory sealed through straight sets victories in the singles rubbers for Dan Evans and Cameron Norrie.

In Group B, Kazakhstan beat Sweden 2-1 in Madrid, Spain, with victory sealed in a deciding doubles rubber by Andrey Golubev and Aleksandr Nedovyesov, who beat Andre Goransson and Robert Lindstedt 6-3, 6-3.

The Russian Tennis Federation defeated Ecuador 3-0 in Group A in Madrid, with two players ranked in the world’s top five in singles - Daniil Medvedev and Andrey Rublev, recording victories in the singles rubbers to seal the tie.

Rublev then teamed up with Aslan Karatsev to win the doubles rubber and secure a whitewash victory.

In Group E, Italy defeated Colombia in Turin with Lorenzo Sonego and Jannik Sinner recording wins in the singles to secure the tie, although Juan Sebastian Cabal and Robert Farah gave Colombia a hard-fought win in the doubles rubber, beating Sinner and his partner Fabio Fognini 6-2, 5-7, 7-6 in a match that finished after 2am local time.

The group stage is scheduled to be concluded tomorrow, with a double-header of ties taking place across all three venues.