Eskilstrup Church built in the Romanesque style dates from the 12th century. In accordance with a local tradition, it is painted red. It is best known for its frescos, said to be Denmark's oldest.
The town has grown up around Eskilstrup Station which opened together with the Falster Railway in 1872. The earliest buildings included the businesses and hotel close to the station on the main street.
Eskilstrup is conveniently located close to the E47 motorway from Copenhagen to Rødby Havn. Facilities include a school, sportshall, day nursery, food store and a hotel. There are beech woods in the surrounding countryside and it is not far to the coast. Some 300 children attend the local school. Local landmarks include the water tower, windmill and sportshall. Nearby Ønslev benefits from the town's activities and services.
Eskilstrup is home to Danmarks Traktormuseum (Denmark's Tractor Museum) with some 200 tractors from the beginnings up to 1970. Also in the neighbourhood is the Krokodille Zoo with Europe's largest collection of living crocodiles. One of the region's oldest churches, Torskilstrup Church, lies 4 km (2.5 mi) northeast of Eskilstrup.