The agreement was signed in Warsaw by the two countries' defence ministers.
Poland's Władysław Kosiniak-Kamysz said at a joint news conference with Denmark's Troels Lund Poulsen that his country's ties with Denmark were stronger than ever before.
Kosiniak-Kamysz said, as quoted by the Polish defence ministry: "We talked about strengthening our cooperation. For us, this is a very important decision. Our alliance with Denmark has never been as strong as it is today. Our relations, our shared experiences are of particular meaning."
During their meeting in Warsaw on Thursday, Kosiniak-Kamysz and Poulsen discussed priorities including security in the Baltic Sea region and protection of critical infrastructure, including the Baltic Pipe gas link between Denmark and Poland.
The two defence ministers and deputy prime ministers also talked about Russia's war in Ukraine and military aid for Kyiv, public broadcaster Polish Radio’s IAR news agency reported.
Kosiniak-Kamysz told reporters that Poland and Denmark "share the same opinion that Europe must be helping Ukraine."
He stated: "One must not become accustomed to war. One must not forget that every day Ukrainian people are dying, fighting for peace, freedom, normality and democracy. But also for the rest of Europe to be safe."
Kosiniak-Kamysz added: "We will align our actions in all domains that guarantee the security of Poland and Denmark, but also of the free world, the EU and NATO. We will do everything to make Poland, Denmark, Europe and the world safe. This is our most important task."
Meanwhile, Poulsen lauded Poland for its contribution to strengthening NATO's security and its steadfast support of Ukraine, Polish state news agency PAP reported.
He assessed that the European security system has changed dramatically since Russia invaded Ukraine.
"At such a critical moment in Europe, we must stick together," Poulsen said, as quoted by the PAP news agency.
Russia invaded Ukraine on February 24, 2022, starting the largest armed conflict in Europe since World War II.
Thursday is day 708 of Russia’s war on Ukraine.
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Source: IAR, PAP