- *Den sidste viking: Erik Ejegods liv og bedrifter* (2002)
- *1864: Slaget, der ændrede Danmark* (2014)
- *København: En bys historie* (2017)
- *Danmarks historie: Fra oldtid til nutid* (2019)
Esbensen has also written several children's books and historical novels. He is a recipient of the Danish Ministry of Culture's Children's Book Prize.
In addition to his writing, Esbensen has been active in politics. He was elected to the Danish Parliament in 2007 and served until 2011. He was a member of the Danish People's Party, but left the party in 2010 due to disagreements over its policies. Esbensen is now a member of the Conservative People's Party.