The top seeds lost 2-6, 2-6 in 56 minutes.
Groenefeld-Rojer broke the Indo-Brazilian pair on their first service to race to a 3-0 lead.
The German-Dutch combination were just too good, utilising four out of the seven break-points that came their way, while Sania-Soares converted two out of four chances they had in the first set, which lasted 28 minutes.
The second set went on serve till the fourth game before Groenfeld-Roger broke in the fifth game to take a 3-2 lead.
The German-Dutch pair broke again in the seventh game and then held serve to make the second round, where they will be up against Yung-Jan Chan of Chinese Taipei and John Peers of Australia.
Image: Sania Mirza and Bruno Soares during the 2015 Australian Open.
Photograph: Patrick Scala/Getty Images