Former gold medalist Pernille Blume won bronze in Women's 50 m freestyle swimming, marking her third Olympic medal in her career.

The following is the list of number of competitors participating in the Games:[4] One Danish archer qualified for the women's individual recurve by securing one of three remaining spots available in the secondary tournament at the 2019 World Archery Championships in 's-Hertogenbosch, Netherlands.

[8] On 8 October 2019, London 2012 Olympian and 2013 world champion Maja Jager became the first Danish athlete to be officially selected to the roster for Tokyo 2020.

[11][12] Danish athletes further achieved the entry standards, either by qualifying time or by world ranking, in the following track and field events (up to a maximum of 3 athletes in each event):[13][14] On 27 March 2020, Rio 2016 silver medalist Sara Slott Petersen (women's 400 m hurdles) and steeplechaser Anna Emilie Møller became the first Danish track and field athletes to be named to the rescheduled Tokyo 2020 squad, with marathon runners Abdi Hakin Ulad and Thijs Nijhuis joining them nearly a month later.

[17][18][19] Silver medalist from 2016 Sara Slott Petersen competed in women's 400 m hurdles, qualifying to the semifinal after finishing 3rd in her initial heat.

[37][34] Danish canoeists qualified three boats in each of the following distances for the Games through the 2019 ICF Canoe Sprint World Championships in Szeged, Hungary.

[38] The women's kayaking squad, led by Rio 2016 silver medalist Emma Åstrand Jørgensen, was named to the Danish roster on 28 May 2021.

[40] Julie Frølund Funch and Bolette Nyvang Iversen competed in the women's K-2 500 m. They finished fifth in the initial heat, which wasn't enough to qualify to the semifinals.

[42] Qualification Legend: FA = Qualify to final (medal); FB = Qualify to final B (non-medal) Denmark entered a squad of six riders (four men and two women) to compete in their respective Olympic road races, by virtue of their top 50 national finish (for men) and top 22 (for women) in the UCI World Ranking.

[44] Four Danish athletes competed in the men's road race: Kasper Asgreen, Jakob Fuglsang, Christopher Juul Jensen and Michael Valgren.

The track cycling squad, highlighted by multiple Olympic medalist Lasse Norman Hansen in the men's pursuit and omnium, was named on 2 June 2021.

[50] The Danish men's pursuit team consisted of Hansen, Niklas Larsen, Rasmus Pedersen and Frederik Rodenberg.

In the semifinal Denmark was in the lead, an on route to win the match, but Frederik Rodenberg collided with British Charlie Tanfield, who had fallen behind the rest of his team.

The two Danish cyclists finished in 12th and 13th respectively, with Degn's time of 1:20:34 being 4 minutes and 48 seconds slower than the winner Jolanda Neff from Switzerland.

[65][66] Denmark fielded a squad of three equestrian riders into the Olympic team dressage competition by finishing fourth overall and securing the first of three available berths for Group A and B at the European Championships in Rotterdam, Netherlands.

Carina Cassøe Krüth and Heiline's Danciera also won their group, giving them a direct spot in the Grand Prix Freestyle.

Nanna Skodborg Merrald and Zack place 3rd in their group, which was initially not enough to advance in the competition, but their score of 73.168 was high enough to qualify them to the Grand Prix Freestyle.

[78][79] Key: Denmark men's handball team qualified for the Olympics by winning the gold medal and securing an outright berth at the final match of the 2019 World Championships in Herning.

Rowing crews in the men's single sculls and women's coxless four confirmed Olympic places for their boats at the 2019 FISA World Championships in Ottensheim, Austria.

[88][89] Meanwhile, two more crews (men's and women's pair) were added to the Danish roster with their top-two finish at the 2021 FISA Final Qualification Regatta in Lucerne, Switzerland.

[90] Single sculls rower and current European champion Sverri Sandberg Nielsen was officially selected to the Danish roster for the rescheduled Games on 21 December 2020.

[91] The remaining crews that earned Olympic spots at the FISA Final Qualification Regatta were officially named to the Danish roster for the rescheduled Games on 1 June 2021, including Rio 2016 bronze medalist Hedvig Rasmussen and her newest partner Fie Udby Erichsen, a bronze medalist in the women's single sculls at London 2012, were named to the Danish roster on 1 June 2021.

This team consisted of Ida Gørtz Jacobsen, Christina Juhl Johansen, Frida Sanggaard Nielsen and Trine Dahl Pedersen.

[99] On 27 March 2020, Team Denmark announced the first set of sailors (49er, 49erFX, and Nacra 17 crews) selected for the rescheduled Games, including Beijing 2008 gold medalist Jonas Warrer.

[15] Rio 2016 windsurfer Lærke Buhl-Hansen, with Laser sailor and bronze medalist Anne-Marie Rindom going to her third consecutive Games, was added to the Danish sailing roster on 12 May 2020.

[100] M = Medal race; EL = Eliminated – did not advance into the medal race Danish shooters achieved quota places for the following events by virtue of their best finishes at the 2018 ISSF World Championships, the 2019 ISSF World Cup series, European Championships or Games, and European Qualifying Tournament, as long as they obtained a minimum qualifying score (MQS) by 31 May 2020.

[101] Skeet shooter and 2013 world shotgun champion Jesper Hansen was officially selected to the Danish roster for his third consecutive Games on 14 November 2019.

[102] Steffen Olsen earned a direct place in the men's 50 m rifle 3 positions for the rescheduled Games as the highest-ranked shooter vying for qualification in the ISSF World Olympic Rankings of 6 June 2021.

Rio 2016 Olympian Jonathan Groth scored an outright semifinal victory to book one of three Olympic spots available in the men's singles at the 2019 European Games in Minsk, Belarus.

[105] Denmark qualified one wrestler for the men's Greco-Roman 67 kg into the Olympic competition, as a result of his top six finish at the 2019 World Championships.