The 33-year-old has not played since injuring his elbow while playing for Stoke against Chelsea in the Premier League in April.
Jesper Christiansen and Stefan Andersen have played in Morten Olsen's side's warm-up games, but former Aston Villa stopper Sorensen is confident of being ready for the Group E clash.
He told Politiken newspaper: "I've been 100 per cent ready for a while now. I had a talk with Morten Olsen the other day and he explained to me why he didn't play me against South Africa."
Source: Team Talk
Source: Team Talk