Danckerts was born in The Hague, where he learned his trade and remained until 1653. He visited England for the first time in 1650. In 1653 he went to Italy, where he stayed for five years. He then moved to England where he entered the service of Charles II and the Duke of York. He painted Italianate landscapes, especially views of harbors and royal residences. He also produced portraits and devotional pictures and made engravings after the Italian old masters in the Royal Collection. He left England in 1679 due to the public hostility towards Roman Catholics after the Popish Plot controversy. He died soon after in Amsterdam.
He was also known as the "Master with the two Anchors" and was the younger brother of the painter Johan Danckerts. Danckerts has twenty painting in public ownership in the United Kingdom.