Teaching at university (pathway 3 and teaching-oriented positions) In England, in principle, there are three pathways to professorship, or in general to teaching permanent positions at universities. The third one is for academic staff whose responsibilities are primarily to cover essential teaching, educational needs and, for more senior grades, pedagogic research.

But, in practice, scientific faculties do not allow almost anyone to get a professorship that way. In Bristol, in particular, I only know of people in the Graduate School of Education having become professors through pathway 3. 

Is there in Europe a real possibility, in disciplines like physics, mathematics, engineering, to work in academia as a university lecturer primarily?

One way of rephrasing this would be:  

Are there in any European countries any teaching-oriented positions in scientific disciplines at universities?
Many places in Europe try to follow US examples, and that involves promoting research first, as a way of educating the faculty itself. Of course a acclaimed handbook author like Tom Cormen would almost always get the job anyway.

It is noted that there is many more postdoc positions than professorial positions worldwide.
Even if there are professors that focus mostly on teaching, they would not be advertised by universities trying to attract research funding.