The parties discussed the security situation in Donbas and the implementation of the Minsk peace agreements, the press service said.
The president drew attention to the steps of Russia aimed to undermine the peace process.
Read alsoPoroshenko appoints Maria Gaidar as advisorPoroshenko expressed gratitude for Denmark's consistent support for the policy of sanctions against the Russian aggressor.
Poroshenko also thanked the deputies of the Folketing for their solid stance in support of Ukraine's territorial integrity and sovereignty.
The president noted Danish parliamentary delegations' active work in the Parliamentary Assemblies of the OSCE and the Council of Europe in support of Ukraine's position.
Poroshenko also underlined willingness of Ukraine to further develop an active dialogue with Denmark at all levels.
The meeting was also attended by leader of the Verkhovna Rada group on interparliamentary relations with the Kingdom of Denmark Maksym Kuriachyi.