The 28-year-old scored the only goal in the uninspiring win when he struck from the penalty spot in the 69th minute.
Just 40,181 turned up to the national stadium to watch Roy Hodgson’s side in the friendly — the lowest England crowd at the new Wembley by more than eight thousand.
Following their disappointing World Cup campaign where they exited at the group stage, Rooney admitted his performance had been lacklustre.
“I thought I could have done better. We all could have done better,” Rooney said.
“It was important that we got the win tonight, especially going into the game on Monday.
“In the first half we moved quite well but they made it difficult for us and sat back and created a few opportunities in the first half.
“In the second half we started really sloppy and that was disappointing as we wanted to go out and really take the game to them.
“We got the win in the end and there are a lot of young players in this team and we will learn. They are still learning.”
England face Switzerland in a Euro 2016 qualification match on Monday.
ENGLAND: Hart, Baines, Jones, Stones (Chambers 81), Cahill (Jagielka 84), Wilshere (Milner 69) Sterling, Henderson, Oxlade-Chamberlain (Delph 69) Rooney (Welbeck 70) Sturridge (Lambert 89).
NORWAY: Nyland, Nordtveit, Forren, Elabdellaoui, Linnes (Flo 36), Jenssen (Pedersen 87), Johansen, Skjelbred (Elyounoussi 69), King (Nielsen 76), Elyounoussi (Kamara 78), Daehli (Konradsen 57).
Referee: Manuel Jorge Sousa.