Brendan Rodgers' team will travel to the Brondby Stadion for a 5pm BST kick-off that will form part of the Danish outfit's 50th anniversary celebrations.
Information regarding tickets will be released in the coming days and weeks, so stay logged on to the LFC Tour website and official website for further details in due course.
The Reds have previously faced Brondby on just three occasions, with the most recent competitive clash a two-legged UEFA Cup tie in October 1995.
Liverpool are one of the most popular English teams in Denmark, with strong ties dating back to the signing of fans' favourite and Danish midfielder Jan Molby in 1984.
Current vice-captain Daniel Agger, meanwhile, switched to Anfield from Brondby eight years ago, and the national team skipper has further increased the club's profile in his homeland.
Off the pitch, the Reds and Carlsberg - a Danish beer company - can claim the longest-running commercial partnership in the Barclays Premier League since joining forces in 1992.
Billy Hogan, chief commercial officer at Liverpool, said: "Liverpool FC has a large following across Scandinavia and especially in Denmark.
"So it's really exciting that we will be bringing the club closer to our fans through this pre-season friendly against one of the biggest teams in the country."
Brondby sports director, Per Rud, commented: "We look forward to welcoming Liverpool FC at Brondby.
"Liverpool are one of the world's biggest and most popular clubs, and we hope that a great deal of Brondby fans and also Scandinavian fans of LFC will take part in this unique experience at Brondby Stadium.
"Liverpool are an important part of our club's history, and the friendly match on July 16 is therefore a perfect way to mark Brondby's 50th anniversary and also an ideal last pre-season match for our squad."
A first-team squad will be selected by the Reds, barring any injuries or national team duty for the 2014 World Cup in Brazil.
The match in Denmark will be followed by a friendly against Preston North End, before the players depart for a four-match tour of America, visiting Boston, Chicago, New York and Charlotte.
Pre-season will be wrapped up with a showpiece Anfield encounter with German contenders Borussia Dortmund on August 10. Click here for more information on all seven games.