Axel Theophilus Helsted was a Danish painter.

Helsted was born in Copenhagen, Denmark. He was the son of the painter Frederik Ferdinand Helsted. He studied at the Royal Danish Academy of Fine Arts, completing his course of study in 1866. In 1869, he traveled to Paris. From 1874, he and his wife stayed in Italy. Helsted made a journey to the Netherlands and Belgium in 1890. In 1887 he became a member of the Royal Academy, in 1892 he received the title of professor.

He exhibited at the Charlottenborg Spring Exhibition between 1865-1907 together with various exhibitions at Paris, Vienna and Munich. He painted the altarpiece of the Church of Christ in Copenhagen.