The family can be traced back to the 14th century with the arrival in Denmark of knight Heinrich (Henning) Valkendorf.

The most prominent member of the Danish family was Christoffer Valkendorf, who served as Steward of the Realm during the early reign of Christian IV.

Members of the family were major landowners on the island of Funen where they owned Glorup Manor for almost two hundred years.

It is likely that the Walkendorff family originates from Mecklenburg-Vorpommern, where remnants of a castle has been found in the small village of Walkendorf.

The Danish Valkendorf branch died out in 1747 with the passing of Major Børge Walkendorff.