Border control continues (illustrative image).
"While we are now experiencing low entry and asylum rates in Denmark, we must unfortunately note there is still a great deal of pressure on Europe's external borders", said Støjberg.
Following the extension, the controls will be in place until May 12 - taking their total time in existence to over 28 months.
"At the same time, we can not close our eyes to the serious terrorist threat against Denmark".
Police alone were responsible for carrying out the border checks until July this year, when the Home Guard (Hjemmeværnet) was brought in to assist.
Germany's interior minister Thomas de Maizière announced on Thursday that Berlin would also be extending border controls for a further six months, meaning checks will stay in place in the Alpine Germany-Austria border region.
The controls at borders with members of the visa-free Schengen area such as Italy and Belgium, will "respect the principle of proportionality", the ministry said in a note to the European Union dated October 3rd.