The company Esbensen, Advisory Engineers A/S, started in Sønderborg in 1947 by engineer and teacher by the craftsmen school, Henry Mortensen. In 1960 occurred engineer Jørgen Esbensen in the company who at the time worked under the name Mortensen & Esbensen. Henry Mortensen left the company in 1967 to retire and Jørgen Esbensen continued the company as a personal company.

In 1977 Civil engineer Torben Esbensen, who is the son of Jørgen Esbensen, established a department in Copenhagen. The department would primarily deal with energy tasks, especially renewable energy. By Jørgen Esbensen's death in 1978, Torben Esbensen took over the leadership of both the department in Copenhagen and Sønderborg. In 1992, the company affiliated Birch & Krogboe Group. On that occasion the department of Birch & Krogboe in Aabenraa was operated as part of Esbensen A/S. The formalized cooperation with Birch & Krogboe A/S was phased out in the summer of 1997. Simultaneously SM & E Holding A/S was established, which acquired the holding after Birch & Krogboe

In 2000 three senior executives became shareholders.

In 2002 the capital of Esbensen A/S was extended and the company Hansen & Langeland ApS became shareholders.

In 2004 Electricity Advisory Services Francesco Morelli, Copenhagen merged with Esbensen A/S, which Esbensen's skills at the Electricity and lighting area was strengthened. Francesco Morelli was a one-person-owned company with 4-5 employees.

In 2006, the office in Aabenraa was phased out and the employees were relocated to Sønderborg. The same year, Esbensen A/S opened an office in Århus and in 2008 another office in Oslo, Norway.