The visitors have now improved to 2-2 on the group table while Denmark have suffered their fourth straight loss and are in last place in this pool.
Denmark started off looking very focused and determined to tick the win column and jumped to a 23-14 lead shortly before the end of the opening quarter.
Belarus however did not allow them to increase their advantage to double-digit levels and the hosts were content to take a 40-36 lead into the locker rooms at the break.
Dzmitry Paliashchuk hit a triple with 6:31 left in the third quarter to push Belarus ahead 45-44, but Peter Moeller replied swiftly with back-to-back mid-range jumpers to restore Denmark in the lead.
Belarus stayed close and waited for their moment and Vitali Liutych drilled a three-pointer with 6:55 left in the final frame to tie the scores at 60.
Veteran Aliaksandr Kudrautsau quickly capitalised on Danish misses on the other side of the floor and increased the Belarus advantage to 65-60, with 5:35 left on the clock.
Esben Reinholt was fouled 2:42 from the final buzzer and made both his free-throws to reduce the gap to 65-64 but, in a display of cool blood, Kiryl Sitnik drove to the Danish basket twice within the space of 28 seconds and lifted Belarus 69-64 ahead.
Aliaksandr Pustahvar, with a well-taken triple 25 seconds from the final buzzer, made it 72-66 for the guests and put the result beyond doubt.
Liutych paced Belarus with 21 points, five rebounds and three assists, Paliashchuk added 14 points and seven boards while Sitnik finished with 13 points and six rebounds.
For Denmark, Reinholt collected 17 points, three rebounds and three assists and Darko Jukic had 10 points and four rebounds.