The meeting will help give Australia a workout in the lead-up to the world's biggest sporting event.

Pim Verbeek's men already have engagements booked with New Zealand in Melbourne on May 24 and the USA in South Africa on June 5.

The Socceroos will play their first World Cup group game against Germany on June 13 in Durban.

"Denmark is another World Cup-qualified team that also plays a similar style to the opposition we will face in South Africa," said Verbeek.

"They are strong, physical and skilful which will benefit our preparation greatly.

"Denmark have also drawn a tough group with the Netherlands, Japan and Cameroon, so playing against us will also be very important to them.

"(Denmark head coach) Morten Olsen was a fantastic player and is a very experienced coach, so we expect to face a very well-organised and structured team on the first of June."

The two sides have met once before with Denmark recording a 3-1 victory in London back in 2007.