Denmark is part of the Schengen Agreement, which eliminated border passport control between Schengen countries in Europe. As such, you no longer need to stop or show your passport when travelling between Denmark and Germany – or Denmark and Sweden. You must still have your passport with you, however, when travelling in Schengen countries as a form of identification.
Following Brexit, UK citizens can travel to any country in the Schengen area, including Denmark, for up to 90 days in any 180-day period without a visa.