diff --git a/config-example.yml b/config-example.yml
index 4f929f28345..a276c0d51d8 100644
--- a/config-example.yml
+++ b/config-example.yml
@@ -189,7 +189,7 @@ graphhopper:
   # motorized vehicles. This leads to a smaller and less dense graph, because there are fewer ways (obviously),
   # but also because there are fewer crossings between highways (=junctions).
   # Another typical example is excluding 'motorway', 'trunk' and maybe 'primary' highways for bicycle or pedestrian routing.
-  import.osm.ignored_highways: footway,cycleway,path,pedestrian,steps # typically useful for motorized-only routing
+  import.osm.ignored_highways: footway,cycleway,path,steps # typically useful for motorized-only routing
   # import.osm.ignored_highways: motorway,trunk # typically useful for non-motorized routing
 
   # configure the memory access, use RAM_STORE for well equipped servers (default and recommended)
diff --git a/core/src/main/java/com/graphhopper/routing/util/countryrules/europe/DenmarkCountryRule.java b/core/src/main/java/com/graphhopper/routing/util/countryrules/europe/DenmarkCountryRule.java
index ddec29d0adc..c56f96a0030 100644
--- a/core/src/main/java/com/graphhopper/routing/util/countryrules/europe/DenmarkCountryRule.java
+++ b/core/src/main/java/com/graphhopper/routing/util/countryrules/europe/DenmarkCountryRule.java
@@ -23,7 +23,7 @@
 import com.graphhopper.routing.util.countryrules.CountryRule;
 
 /**
- * Defines the default rules for Polish roads
+ * Defines the default rules for Danish roads
  *
  * @author Thomas Butz
  */
diff --git a/core/src/main/java/com/graphhopper/routing/util/parsers/CarAccessParser.java b/core/src/main/java/com/graphhopper/routing/util/parsers/CarAccessParser.java
index e4832e5b170..454e688657c 100644
--- a/core/src/main/java/com/graphhopper/routing/util/parsers/CarAccessParser.java
+++ b/core/src/main/java/com/graphhopper/routing/util/parsers/CarAccessParser.java
@@ -30,6 +30,7 @@ public class CarAccessParser extends AbstractAccessParser implements TagParser {
 
     protected final Set<String> trackTypeValues = new HashSet<>();
     protected final Set<String> highwayValues = new HashSet<>();
+    protected final Set<String> pedestrianAccessValues = new HashSet<>();
     protected final BooleanEncodedValue roundaboutEnc;
 
     public CarAccessParser(EncodedValueLookup lookup, PMap properties) {
@@ -71,7 +72,9 @@ public CarAccessParser(BooleanEncodedValue accessEnc,
 
         highwayValues.addAll(Arrays.asList("motorway", "motorway_link", "trunk", "trunk_link",
                 "primary", "primary_link", "secondary", "secondary_link", "tertiary", "tertiary_link",
-                "unclassified", "residential", "living_street", "service", "road", "track"));
+                "unclassified", "residential", "living_street", "service", "road", "track", "pedestrian"));
+
+        pedestrianAccessValues.addAll(Arrays.asList("destination", "yes", "customers"));
 
         trackTypeValues.addAll(Arrays.asList("grade1", "grade2", "grade3", null));
     }
@@ -155,6 +158,20 @@ public void handleWayTags(int edgeId, EdgeIntAccess edgeIntAccess, ReaderWay way
             List<Map<String, Object>> nodeTags = way.getTag("node_tags", Collections.emptyList());
             handleBarrierEdge(edgeId, edgeIntAccess, nodeTags.get(0));
         }
+
+        if("pedestrian".equals(way.getTag("highway"))) {
+            boolean allowed = way.hasTag("motor_vehicle", pedestrianAccessValues) ||
+                    way.hasTag("vehicle", pedestrianAccessValues);
+            if (isOneway(way)) {
+                if (isForwardOneway(way))
+                    accessEnc.setBool(false, edgeId, edgeIntAccess, allowed);
+                if (isBackwardOneway(way))
+                    accessEnc.setBool(true, edgeId, edgeIntAccess, allowed);
+            } else {
+                accessEnc.setBool(false, edgeId, edgeIntAccess, allowed);
+                accessEnc.setBool(true, edgeId, edgeIntAccess, allowed);
+            }
+        }
     }
 
     /**
diff --git a/core/src/main/resources/com/graphhopper/routing/util/legal_default_speeds.json b/core/src/main/resources/com/graphhopper/routing/util/legal_default_speeds.json
index 64ed39f7d45..b2beb90a963 100644
--- a/core/src/main/resources/com/graphhopper/routing/util/legal_default_speeds.json
+++ b/core/src/main/resources/com/graphhopper/routing/util/legal_default_speeds.json
@@ -3149,6 +3149,11 @@
         ],
         "DK": [
             {
+                "name": "pedestrian",
+                "tags": {
+                    "maxspeed": "walk"
+                }
+            },{
                 "name": "living street",
                 "tags": {
                     "maxspeed": "15"
diff --git a/core/src/test/java/com/graphhopper/routing/util/parsers/CarTagParserTest.java b/core/src/test/java/com/graphhopper/routing/util/parsers/CarTagParserTest.java
index 7236c0bd2e0..d6c449d3072 100644
--- a/core/src/test/java/com/graphhopper/routing/util/parsers/CarTagParserTest.java
+++ b/core/src/test/java/com/graphhopper/routing/util/parsers/CarTagParserTest.java
@@ -167,6 +167,21 @@ public void testAccess() {
         way.setTag("highway", "service");
         way.setTag("service", "emergency_access");
         assertTrue(parser.getAccess(way).canSkip());
+
+        way.clearTags();
+        way.setTag("highway", "pedestrian");
+        way.setTag("motor_vehicle", "yes");
+        assertTrue(parser.getAccess(way).isWay());
+
+        way.clearTags();
+        way.setTag("highway", "pedestrian");
+        way.setTag("motor_vehicle", "destination");
+        assertTrue(parser.getAccess(way).isWay());
+
+        way.clearTags();
+        way.setTag("highway", "pedestrian");
+        way.setTag("motor_vehicle", "customer");
+        assertTrue(parser.getAccess(way).isWay());
     }
 
     @Test
@@ -701,7 +716,7 @@ public void testIssue_1256() {
     @ValueSource(strings = {"mofa", "moped", "motorcar", "motor_vehicle", "motorcycle"})
     void footway_etc_not_allowed_despite_vehicle_yes(String vehicle) {
         // these highways are blocked, even when we set one of the vehicles to yes
-        for (String highway : Arrays.asList("footway", "cycleway", "steps", "pedestrian")) {
+        for (String highway : Arrays.asList("footway", "cycleway", "steps")) {
             ReaderWay way = new ReaderWay(1);
             way.setTag("highway", highway);
             way.setTag(vehicle, "yes");