Denmark is compact, kid-friendly, and built for travelers who love clean design, coastal air, and generous doses of hygge. From Copenhagen’s colorful Nyhavn to windswept Skagen, the country blends royal castles with gentle cycling paths, world-class museums, and playgrounds seemingly around every corner.

As the oldest continuous monarchy in Europe, Denmark tells its story through Renaissance palaces, Viking ships, and cobbled lanes that inspired Hans Christian Andersen. Foodies can dive into smørrebrød (open-faced sandwiches), flaky Wienerbrød, and modern Nordic comfort fare—often in lively markets perfect for families.

Practical notes: wild camping is generally not allowed, but Denmark has excellent campgrounds and marina “autocamper” stopovers. Trains are fast and easy if you’re not in a campingcar, but a campervan opens up beaches, forests, and islands. Card payments are near-universal, tap water is great, and many attractions are free or discounted for kids.

Copenhagen

Start where Danish design meets fairy tale color. Copenhagen is flat, bike-happy, and full of parks and play. Base yourself within easy reach of Tivoli Gardens, Nyhavn, and the royal quarter—then range out to North Zealand’s castles and the chalk-white cliffs of Møn.

For campingcar travelers, consider First Camp Copenhagen (close to the city), Charlottenlund Fort Camping (sleep beside old fortress walls and the Øresund), or DCU-Copenhagen Camp Absalon in Ishøj. If you want a few roofed nights, see hotel/VRBO picks below.

Days 1–3: Old Town Classics, Canals, and Tivoli

• Nyhavn, Strøget, and the Royal Quarter: Stroll past pastel townhouses, peek into Amalienborg for the Changing of the Guard, and walk the waterfront to the Little Mermaid. With kids, stop at the Royal Library Garden for a tranquil play break.
• Canals from the water: A cruise makes the city click for first-timers and children alike.

  

  Copenhagen Sightseeing Classic Canal Tour With Live Guide (1 hour) sails past Christianshavn, Børsen, and the opera house.

• Tivoli Gardens: The 1843 amusement park is more lanterns and gardens than adrenaline—ideal for mixed-age families. Grab dinner at Tivoli Food Hall for casual variety.
• Kid-friendly bites: Start at Hart Bageri or Juno the Bakery for sourdough and cardamom twists; lunch at Torvehallerne (try smørrebrød at Hallernes or Tapa del Toro for picky eaters); dinner at Broens Gadekøkken or Reffen Street Food for global stalls by the harbor.

Days 4–5: Castles of North Zealand

• Kronborg (Hamlet’s Castle) and Frederiksborg: Drive or train up the coast (about 45–60 minutes by train; ~1 hour by car) to explore UNESCO-listed Kronborg and the story-rich galleries of Frederiksborg in Hillerød.
• All-in-one castle/Viking day: Save time with a curated day out of the city:

  

  Full-Day; Castle, Palace, Cathedral & Viking ships Tour includes Frederiksborg, UNESCO Roskilde Cathedral, and the Viking Ship Museum—excellent storytelling for kids.

• Comfort food nearby: In Hillerød, look for cozy cafés around the castle lake for easy kid meals; back in Copenhagen, Restaurant Koefoed serves Bornholm-inspired dishes with simple, tasty fish plates.

Day 6: Foodie Copenhagen for Families

• Market grazing and classics: Tour a spectrum of Danish staples—smørrebrød, cheeses, and hot dogs upgraded with Nordic flair.

  

  Copenhagen Culinary Food Tour with 6+ Tastings of Danish Classics keeps little palates engaged with bite-sized variety.

• Coffee and treats: Andersen & Maillard for waffles and soft-serve affogato; Democratic Coffee for famously flaky croissants; afternoon cocoa at Summerbird.

Day 7: Møns Klint and the Forest Tower

• Nature day trip: Head south to Denmark’s white cliffs at Møns Klint and walk the spiral boardwalk up the treetops at Camp Adventure’s Forest Tower—two family hits in one outing.

  

  Møns klint and The Forest tower - A day tour from Copenhagen covers logistics so you can focus on fossils, forests, and views.

• Campervan tip: Make it an overnight near Faxe or Feddet Strand Resort (indoor pool, beach, big playgrounds) for an easy kid wind-down.

Money-saver for attractions:

Copenhagen Card - DISCOVER 80+ attractions and public transport often pays for itself over 2–3 busy sightseeing days—especially with teens.

Where to stay (if not camping): Splurge on heritage at Hotel d'Angleterre, go stylish-budget at Wakeup Copenhagen - Borgergade, enjoy family facilities at Tivoli Hotel & Congress Center, or social vibes at Urban House Copenhagen by MEININGER. Browse more options on VRBO Copenhagen or Hotels.com Copenhagen.

Getting to Copenhagen: Book international flights via Trip.com Flights or Kiwi.com. If arriving from within Europe, compare options on Omio Flights (Europe) and trains/buses on Omio Trains and Omio Buses.

Odense

Cross the Great Belt to Funen, Denmark’s “garden island,” where half-timbered houses, orchards, and sea views set a gentler pace. Odense—birthplace of Hans Christian Andersen—mixes storybook lanes with hands-on museums and a superb street food hall.

For campingcar nights, try First Camp Hasmark Strand (slides, pools, a beach), Camp Hverringe on Hindsholm (sea-view pitches), or Odense City camping spots near the zoo for convenience with kids.

Travel: Copenhagen to Odense (Morning of Day 8)

• By campervan: ~2 hours via E20 plus Great Belt Bridge toll (~270–420 DKK one-way depending on vehicle size). Consider a fuel stop before the bridge—prices can be higher on the isthmus.
• By train (Omio): InterCity trains ~1 hr 15 min; fares typically €22–€40 per adult. See Omio Trains.

Days 8–10: Andersen’s Fairy Tales, Zoo, and Island Picnics

• HC Andersen House & Old Town: Immersive, kid-forward exhibits bring stories to life; wander cobbled streets lined with colorful homes and small workshops.
• Odense Zoo: Consistently rated among Europe’s best for families—compact paths, animal feedings, and a river setting.
• Food breaks: Breakfast at Brød Bakery (buttery pastries), lunch at Storms Pakhus (street food hall—Neapolitan pizza, Thai, and Danish classics under one roof), and dinner at Den Gamle Kro for traditional fare in creaking, timbered rooms.

Days 11–12: South Funen Archipelago or LEGOLAND Detour

• Svendborg & Ærø: Drive 45 minutes to Svendborg for harbor vibes; ferry with your campervan to Ærøskøbing (~1h15; reserve in advance; camper fares often 250–600 DKK each way). Cobblestones, bathing huts, beaches—pure Denmark summer.
• LEGOLAND Billund (alt. or add-on): About 1 hr 15 min from Odense; stay at Legoland Holiday Village or nearby Billund camping for easy park access. Add LEGO House downtown for creative play and Denmark design storytelling.
• Eats to note: Try smoked fish plates in Svendborg or island ice cream on Ærø; back in Odense, Restaurant Oluf Bagers Gaard offers seasonal Danish dishes in a historic courtyard.

Where to stay if not camping: Browse VRBO Odense or Hotels.com Odense for family apartments and mid-range hotels near the pedestrian core.

Aarhus

Denmark’s second city pairs a sandy coastline with a lively, youthful center. Museums here are interactive, street food is stellar, and the historic “Old Town” museum drops you into centuries of daily life—great for all ages.

For campingcar bases, look at Blommehaven Camping south of the city (forest trails right to the beach), Ebeltoft Strand Camping on Djursland’s gentle shores, or marina stopovers in Aarhus. From here, day-trip north to the Grenen sandbar or west to Vikings and tidal flats.

Travel: Odense to Aarhus (Morning of Day 13)

• By campervan: ~2.5–3 hours via E20/E45. If you didn’t visit Billund earlier, swing through for LEGOLAND on the way.
• By train (Omio): ~2–3 hours with a change at Middelfart or Fredericia; typical fares €30–€55. Compare on Omio Trains.

Days 13–15: ARoS, Den Gamle By, Beaches, and Street Food

• ARoS Aarhus Art Museum: Kids love Your rainbow panorama on the roof—360° city views through colored glass.
• Den Gamle By (The Old Town): A time-travel museum village with staff in period dress, vintage shops, and hands-on crafts—plan 2–3 unrushed hours.
• Aarhus Ø and beaches: Walk harbor boardwalks and swim platforms, or head to Ballehage for a sheltered family swim.
• Where to eat: Breakfast at La Cabra Coffee (cardamom buns, top-notch roasts), lunch at Aarhus Street Food (70+ stalls; go for pulled-pork smørrebrød or butter chicken), dinner at Mefisto (seafood) or Langhoff & Juul (organic bistro).

Days 16–18: Djursland Wildlife and Kattegat Coast

• Ebeltoft: Cobblestones, half-timbered houses, and the frigate Jylland museum ship; nearby beaches are shallow and kid-safe.
• National Park Mols Bjerge: Gentle hikes over rolling “mountains,” wild ponies, and picnic views—excellent family walking.
• Randers Regnskov (Rainforest Dome): A warm, indoor tropical zoo—great if weather turns.

Days 19–21: Vikings, Wadden Sea, or Skagen Finale

• Option A—North to Skagen: Drive ~2.5–3 hours to Denmark’s tip where North Sea meets Baltic at Grenen. Ride the Sandormen tractor to the point, then explore Skagen painters at the museums. Camp at Skagen Nordstrand or Aalbæk.
• Option B—West to Vikings and Tides: South- and westbound, visit Jelling’s UNESCO rune stones (near Vejle) and Ribe’s Viking Center, then Wadden Sea National Park for seal-watching and vast tidal flats. Base at Ribe Camping or fanes of lighthouse sunsets on the west coast.
• Farewell flavors: In Aalborg, try Mortens Kro for celebratory Danish cuisine; in Ribe, go simple with fresh plaice and remoulade. Back in Aarhus, cap it at Sjette Frederiks Kro overlooking the bay.

Where to stay if not camping: Explore VRBO Aarhus options near the Latin Quarter or beach, or compare hotels on Hotels.com Aarhus.

Transport Tips and Costs (Family & Campervan Focus)

• Trains & buses: Denmark’s trains are stroller-friendly; kids often ride discounted. Plan intercity legs on Omio Trains and regional buses on Omio Buses.
• Ferries: For island hops like Ærø, check schedules and fares early; browse routes via Omio Ferries (Europe). Camper spaces sell out in summer.
• Driving notes: Speed limits are tightly enforced; alcohol tolerance is very low. The Great Belt toll applies east–west; bridge winds can affect high vehicles—check conditions before crossing.

Budgeting (50/100 mid-range)

• Campgrounds: 200–450 DKK per night for a family pitch with electricity; big resort-style parks cost more but include pools/playgrounds.
• Food: Bakery breakfast 40–90 DKK pp; market lunches 80–150 DKK pp; sit-down dinners 160–300 DKK mains. Save with casual markets and picnic staples from supermarkets like Netto or Føtex.
• Attractions: Many museums are free for children; bundle savings with the Copenhagen Card during your busiest city days.

Optional Copenhagen Add-ons (if you have extra energy)

• Bike together: Copenhagen’s lanes are safe and intuitive; consider a guided family-friendly circuit to learn etiquette and shortcuts.
• Pastry class: Budding bakers love rolling Wienerbrød—fun and delicious souvenir skills for the whole crew.

With castles, canals, forests, and beaches, this three-week Denmark road trip balances big sights with easy-going downtime. Families get the best of city culture and coastal play, all on short drives optimized for a campingcar. By the time you reach Denmark’s northern sands, everyone will have a favorite Danish story to bring home.