How to make images stay within the rows of a css grid container?

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You can use grid-template-rows: 1fr 1fr 1fr and more importantly you have to reset the min-width and min-height values of the grid items which defaults to auto (as much as the content).

To provide a more reasonable default minimum size for grid items, this
specification defines that the auto value of min-width/min-height also
applies an automatic minimum size in the specified axis to grid items
whose overflow is visible and which span at least one track whose min
track sizing function is auto. (The effect is analogous to the
automatic minimum size imposed on flex items.)

Source: W3C

This is similar to the auto flex item rule with flexboxes. See demo below where I reset them to zero:

html, body {
  width: 100%;
  height: 100%;
  padding: 0;
  margin: 0;
  border: 0;
  background-color: lightgrey;
}

.container {
  box-sizing: border-box;
  width: 100%;
  display: grid;
  grid-template-columns: 1fr 1fr;
  grid-template-rows: 1fr 1fr 1fr;
  height: 60vh;
  border: 3px solid yellow;
  padding: 3px;
  /*grid-gap: 20px;*/ /* <-- would also mess things up */
}

.tile {
  min-width: 0;
  min-height: 0;
}

img {
  box-sizing: border-box;
  display: block;
  object-fit: contain;
  width: 100%;
  height: 100%;
  margin: 0;
  border: 0;
  padding: 3px;
}
<!-- The image is 200 x 100 px: a green and a blue square next to each other. -->
 <div class="container">
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
   <div class="tile">
     <img src="https://i.stack.imgur.com/qbpIG.png" alt="." />
   </div>
 </div>

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