Born on Dec. 2nd 1866 in the small village Vejerslev in Jutland, Denmark.
After becoming a journeyman painter he was admitted to The Royal Danish Academy of Fine Arts (Copenhagen, Denmark 1887-90) where he studied under Frederik (Fritz) Vermehren, Julius Exner and Carl Bloch.
He debuted at the esteemed Charlottenborg Spring Exhibitions (Copenhagen) in 1892 where he exhibited continuously until 1922. Apart from exhibiting at The Artist’ Fall Exhibitions (1904) and at the Nov. 18. Artist Society (1923) he also exhibited at the Almänna konst- och industriutst. (Stockholm) in 1897.
In appreciation of his work he was awarded The Neuhausen Special Prize in 1895.
Steffensen was primarily a landscape and animal painter but also painted altarpieces in churches through out Denmark.
His artistic manner was in every respect a product of the tradition of The Academy at the end of the 19th century.