A floor panel has a substrate and a decorative layer of wood veneer having a thickness of 1 millimeter or less provided on the substrate. The substrate has an average density of more than 750 kilograms per cubic meter. The decorative layer is provided on the substrate by means of a layer on the basis of thermosetting resin situated between the substrate and the decorative layer. A method for manufacturing such floor panels including a structured veneer surface that can be obtained according to the arrangement of the aforementioned floor panel.