Via Denmark etiquette: DO leave a 10% tip at a restaurant if the service was good.

Via Wikipedia: The service charge is not separated from the bill, but adjusted for in the salary of the person. Traditionally, the tip has not been common, but is being introduced by outside influence. Tipping should only be given as a token of real appreciation for the service. Be aware that the tips will most often be split between the waiters and the kitchen. If you want to thank a specific person, make sure to tell them it is a personal gift. Taxi drivers do not expect tips, any extra service (such as carrying bags) will be listed on the receipt according to rate. In this region, tipping is sometimes referred to as driks (Norwegian) but usually just tips, drikkepenge (Danish) or dricks (Swedish), meaning for drinks.
Source(s):
http://www.vayama.com/denmark-etiquette
http://en.wikipedia.org/wiki/Tip#Denmark.2C_Sweden_and_Norway

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