Japan and Denmark exchanged diplomatic missions on a reciprocal basis after conclusion of the "Treaty of Friendship, Commerce and Navigation between Japan and Denmark " in 1867. Both countries have since then enjoyed a friendly relationship for more than a century. Both countries have close ties not only in the economic and trade fields, but also in the cultural and academic areas, and their friendship is growing at a steady pace.
The contacts between Japan's Imperial Family and the Danish Royal Family also have a significant role to play for the two countries' friendship. The first official visit of Their Majesties the Emperor and Empress to Denmark was realized in 1998 (31 May – 4 June), and Her Majesty the Queen and His Royal Highness Prince Consort of the Kingdom of Denmark paid the second state visit to Japan in November, 2004 since the first state visit in May 1980.
In 2004 H.I.H. the Crown Prince of Japan visited Denmark to attend the royal wedding of H.R.H. the Crown Prince and H.R.H. the Crown Princess.
In 2005 H.R.H. the Crown Prince and H.R.H. the Crown Princess visited Japan to attend Aichi Expo.
In June 2011 after the Great East Japan Earthquake H.R.H. Crown Prince Frederik visited Higashimatsushima city in Miyagi prefecture suffered from the earth quake and tsunami to express sympathy. In October 2011 H.R.H. Prince Joachim and H.R.H. Princess Marie visited Japan and had an audience with Their Majesties Emperor and Empress.