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One example of a clear and decisive European defeat is the Battle of Isandlwana in 1879, during the Anglo-Zulu War. The British started taking the Zulus a lot more seriously after that, and won the war.
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Afroblogger lists the greatest upsets by Africans against European armies
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Basuto gun war was the first defeat of an European power in a war against Africans
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An example in which the native forces were numerically inferior1 the colonizing forces was the Battle of Annual in Morocco in 1924.
Not in Africa, but still part of the colonial efforts, in 1857 the Indian Rebellion managed to expel the British East India Company for two years.