Denmark finished third on its debut in 1957 with Birthe Wilke and Gustav Winckler, before winning the contest for the first time in 1963 with the song "Dansevise" performed by Grethe and Jørgen Ingmann.

Denmark won the contest for the second time in 2000 with "Fly on the Wings of Love" performed by the Olsen Brothers.

Denmark's first participants were Birthe Wilke and Gustav Winckler, who sang the song "Skibet skal sejle i nat".

In 1988, Hot Eyes represented Denmark again with "Ka' du se hva' jeg sa'?".

The duo scored its best result to date, finishing in third place, losing only to Céline Dion and Scott Fitzgerald.

Denmark's other good results during this time were sixth place for Lise Haavik in 1986, fifth for Anne-Cathrine Herdorf and Bandjo in 1987, third for Birthe Kjær in 1989 and eighth for Lonnie Devantier in 1990.

Aud Wilken sang "Fra Mols til Skagen" for the nation at the 1995 contest and came 5th, but this high placing could not be repeated in 1996, as Denmark's entry, "Kun med dig" sung by Dorthe Andersen and Martin Loft, did not qualify from the pre-qualifying round of the contest.

In 2005, Copenhagen hosted Congratulations: 50 Years of the Eurovision Song Contest, an event to commemorate the 50th anniversary.

Another string of successful participations started in 2010, when Denmark reached the top five for the first time in nine years, finishing fourth with "In a Moment like This" performed by Chanée and N'evergreen.

In 2014, Denmark reached the top ten for the fourth time in five years, when Basim finished ninth.

Denmark achieved its fifth top ten result of the decade in 2018, with Rasmussen and the song "Higher Ground" finishing ninth.

In 2021, the duo Fyr og Flamme with "Øve os på hinanden", Denmark's first entry fully in Danish since 1997, failed to qualify for the final, finishing 11th in the second semi-final with 89 points.