Johnson found Steven Davis who scooped the ball in to the path of McGinn, who was unable to get enough contact on the ball to score his first international goal.
Gareth McAuley looked to have fouled David Jarolim inside the penalty area in the 42nd minute but the referee waved play on.
Moments later Johnson cleared off the line from Sivok's header from a Tomas Rosicky corner.
Nigel Worthington's side had the first chance of the second half when McGinn went on a good run down the left wing but his shot drifted wide of the post.
Stephen Craigan cleared the danger after Jaroslav Plasil shot towards goal and then Taylor stretched to push over Plasil's inswinging corner.
Baros just failed to get on the end of a left-wing cross in the 81st minute.
Jankulovski fired in a late drive but Taylor produced a fine save as the Czechs pushed for a winning goal but Northern Ireland held on for a creditable draw.
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