Underup is a village in Horsens Municipality, in the region of Central Denmark, Denmark. Underup lies at 83 m above sea level. The nearest city is Horsens, 12.8 km to the southeast. Among the landmarks around are Jelling Heritage Site (27 km), Illerup Ådal (19.1 km) and Voer Abbey (10.8 km). Among the natural features are Himmelbjerget (18.1 km) and Møllehøj (8.7 km).