كتب : Hatem Maher
The Chelsea forward produced a moment of magic to score the winner six minutes past the hour mark. Mali take on Benin in the other Group B game later in the day.
Both sides struggled to find spaces in a tight first-half as the efforts were restricted to long-range shots.
Nwankwo Kanu tried his luck after two minutes but his drive went wide of the post.
Eight minutes later, Ivory Coast defender Kolo Toure blasted a powerful shot after a touched-on free kick but his effort narrowly missed the target.
Ivory Coast shaky keeper Boubacar Barry fumbled Obafemi Martins' shot in the 13th minute but none of Nigeria players made the follow-up.
Nigeria's best chance came three minutes later when dead-ball specialist Taye Taiwo launched a stunning free-kick which cannoned off the crossbar.
The second-half was a livelier affair as both teams created dangerous opportunities.
Nigeria skipper Kanu was replaced in the 57th minute after sustaining an injury, making way for Onyekachi Okonkwo
Two minutes later, a neat pass released Martins clear on goal but a rare moment of brilliance from Barry denied the Newcastle striker.
Ivory Coast forward Kalou broke the deadlock in the 66th minute after a fine individual effort.
The 22-year-old danced through three challengers inside the area before rifling a low shot underneath Nigeria guardian.
Nigeria pushed forward searching for the equalizer but never really threatened the Elephants.