Last week, Kasper Hjulmand confirmed an initial 21-man squad for the tournament in Qatar as the Danes prepare to face Australia, France and Tunisia in Group D.
Five spots were still up for grabs, with Norgaard and Poulsen both notable absentees from the party amid their recent injury problems.
However, both men have now been added to Hjulmand's squad for the World Cup, despite Norgaard making a mere six appearances for Brentford in all tournaments this term.
The midfielder had been absent for 10 consecutive Premier League games with an Achilles issue, but he returned for the weekend's 2-1 win over Manchester City.
Having proved his fitness by playing 28 minutes at the Etihad, Norgaard will be on the plane to Qatar with Denmark as the 28-year-old prepares for his maiden World Cup campaign.
Meanwhile, RB Leipzig striker Poulsen has only been a bit-part player for Die Roten Bullen this term, with his only two goals in 11 appearances coming in the DFB-Pokal.
The 28-year-old has played just 126 minutes of Bundesliga football since recovering from a torn muscle fibre and has only come on as a late substitute in Leipzig's last three league matches.
Nevertheless, Poulsen - who has 11 goals and 13 assists in 69 games for Denmark - will now compete at his second World Cup after representing the Scandinavian nation in Russia four years ago.
Also called up to Hjulmand's ranks is Benfica right-back Alexander Bah, who has set up six goals in 21 matches for the Portuguese giants and started all six of their Champions League group-stage games.
Benfica pipped Paris Saint-Germain to top spot in Group H thanks to Bah's efforts, and the 24-year-old will now aim to build on the four caps he has won for his country.
As well as Poulsen, another Bundesliga representative in Hoffenheim attacker Robert Skov is also among the new additions after providing three goals and three assists in 16 matches during the first half of the season.
Skov was selected for Euro 2020, failing to play a minute at the tournament, but he still boasts an impressive five goals and three assists from 11 games in a Denmark shirt.
Finally, goalkeeper Fredrik Ronnow of Union Berlin has been added to the ranks after keeping eight clean sheets in 17 Bundesliga and Europa League games so far this term.
Ronnow has missed Union Berlin's last three Bundesliga games with a hamstring injury but will seemingly be fit enough to compete with Kasper Schmeichel and Oliver Christensen for the gloves.
Denmark begin their World Cup campaign against Tunisia on November 22 before taking on France four days later, and Australia await them in their final group game on November 30.
DENMARK 2022 WORLD CUP SQUAD IN FULL:
Goalkeepers: Kasper Schmeichel (Nice), Oliver Christensen (Hertha Berlin), Fredrik Ronnow (Union Berlin)
Defenders: Alexander Bah (Benfica), Simon Kjaer (AC Milan), Joachim Andersen (Crystal Palace), Joakim Maehle (Atalanta BC), Andreas Christensen (Barcelona), Rasmus Kristensen (Leeds United), Jens Stryger Larsen (Trabzonspor), Victor Nelsson (Galatasaray), Daniel Wass (Brondby)
Midfielders: Christian Norgaard (Brentford), Thomas Delaney (Sevilla), Mathias Jensen (Brentford), Christian Eriksen (Manchester United), Pierre-Emile Hojbjerg (Tottenham Hotspur)
Forwards: Yussuf Poulsen (RB Leipzig), Robert Skov (Hoffenheim), Andreas Skov Olsen (Club Bruges), Jesper Lindstrom (Eintracht Frankfurt), Andreas Cornelius (Copenhagen), Martin Braithwaite (Espanyol), Kasper Dolberg (Sevilla), Mikkel Damsgaard (Brentford), Jonas Wind (Wolfsburg)