Denmark recognized restored Lithuanian State on 28 September 1921.
Denmark recognized the restored independence of the Republic of Lithuania on 28 February 1991.
Diplomatic relations were established on 24 August 1991.
In 1991, Chargé d’Affaires Dalius Čekuolis served as the first Lithuanian representative to Denmark after the re-establishment of independence (from 1992 Dalius Čekuolis served as the first Lithuanian Ambassador to Denmark, Norway, and Iceland).
From 1991 to 1997, Birger Dan Nielsen served as the first Ambassador of Denmark to Lithuania.