[3] In place names, the last syllable, -toft, means "the adapted", and refers to an area in which a house is built.

[15] After the Reformation in Denmark, the king confiscated Essenbæk Abbey and its estate in 1540,[16] and established Assentoft (Assentofftt) in 1579.

[2] On March 18,[19] 1695, Hans Friis gave Essenbæk Home Farm (Essenbæk Ladegård) and its adjoining estates to his nephew Christian Friis,[20] who incorporated them into the entailed estate of Tustrup on February 15, 1726.

Essenbæk Home Farm was sold at auction at Tustrup December 18, 1783 to Christian Kallager, and on June 11, 1785, the deed was signed.

[23] On June 10,[24] 1787, Kallager sold it to Peter Severin Fønss and Johan Frederik Carøe.

[45] In 1907, a newer and larger school was built in the village,[35] and Essenbæk Mill, which was rebuilt after a fire on April 23, 1889,[46] was torn down in 1922.

[51] The first photograph elected as the World Press Photo of the Year shows a race participant that crashed on the track.

[55] The village's first single-family home neighborhoods were also established at the start of the 1960s; they were built near the western part of Assentoft.

[57] In 1966, the Savings and Loans Bank of Virring and Essenbæk Parishes was acquired by the Savings Bank for Randers Town and Environs (Sparekassen for Randers By og Omegn),[58] and in 1968, the village hall was sold; it was refashioned as Assentoft Inn (Assentoft Kro).

[61] After February 28, 1973, the municipality decided to expand its residential area with parts of the nearby village (Drastrup) such as the Sønderhald School (Sønderhaldskolen),[62] which is now nearly surrounded by Assentoft.

A community center added to the Assentoft Gymnasiums (Assentofthallerne, which the two sports halls are collectively called) was opened for use in the spring of 1981.

50 meters high slope between riverine meadows and moraine hills south of Randers Fjord.

However, certain parts of the town lie on steep plots closely surrounded by wood and meadows,[91] and roe deer can be seen grazing in gardens nearby.