Unfortunate, but true.
There is only one way in which the Axis would have been triumphant. If they'd managed to recruit Stalin to their cause completely. Russia would get its pick of parts of Europe and the Middle East... Which would, by the way, also ensure a steady supply of petroleum for the European theater operations, even if Britain succeeds on the African front.
Imagine, thousands of Russian-made Panzer replicas rolling like a wave across Europe... Yakolevs with German engines.... The world wouldn't stand a chance. The Americas would be somewhat safe for a while, as it's hard to invade another continent, but the USA would be on the defensive, pestered by Japanese and German air raids on its coasts from carriers and an Axis controlled Latin America. In the fifties, America will get its first glimpse of a Saturn V sized rocket... Carrying a nuclear warhead down upon Washington...
But, like the Beatles, the Fab Four would eventually break up. Japan and Russia would never be able to stay under a truce for so long... And Hitler's lieutenants, fearful that their megalomaniacal leader would declare war on Stalin, anyway, would finally kill the old man off... But the Russians will attack, anyway.
By the fifties, Europe and Asia will be in armed revolt, with guerillas supplied with Soviet and US made munitions. The power balance after the war will be very interesting to see...