The Battle of Wesenberg, Rakvere or Rakovor[2] (German: Schlacht bei Wesenberg; Russian: Раковорская битва) was fought on 18 February 1268 between the combined forces of Danish Estonia, the Bishopric of Dorpat, the Livonian Order, and local Estonian militias on one side, and the forces of Novgorod and Pskov, led by Dmitry of Pereslavl, on the other.

[3]: 78–79 According to the Livonian Rhymed Chronicle, the only contemporary primary source describing the battle whose text survives in unaltered form to the present day,[3]: xxi–xxii  the combined forces of the two Russian republics invaded the territory of Danish Estonia in January 1268 where they commenced with looting of the countryside.

The Danish vassals requested reinforcements from the neighboring territories ruled by the Livonian Order and the Bishopric of Dorpat, which they received in the form of 34 Brothers from castles Weissenstein, Leal and Fellin plus an unknown number of lesser troops, and from the Bishopric an unknown number of men under the leadership of Bishop Alexander of Dorpat.

[3]: 77 When all the forces were assembled the native Estonian troops were positioned on the left flank, which they were told to hold during the battle, while the larger group, the Danish king's men, were stationed on the right.

Then, Prince Dmitry Aleksandrovich, who is complimented by the chronicler as being brave, managed to regroup about 5,000 men for a counterattack, while the rest of his army had fled.