The sides had met in the bronze-medal matches at the last two Final4s of the Champions League, with Esbjerg prevailing in both of them, but on Sunday things turned in French favour.
The first half offered the same intensity, with goalkeepers Anna Kristensen and Johanna Bundsen trading early saves.
Norwegian international legend, Nora Mork, who made her comeback in the Champions League after giving birth, pushed Esbjerg two ahead from the seven-metre line.
However, Metz struck back as Lucie Granier's late goal, fuelled by Johanna Bundsen's reflex saves between the posts, gave Metz their first lead since 7-8, before the to teams went in for the interval at 15-15.
The tension remained high throughout the match. With twenty minutes to go, Esbjerg briefly restored their three-goal lead (21-18), but Emmanuel Mayonnade's time-out shifted the momentum and in just five minutes the French side reclaimed the lead.
In a back-and-forth battle until the last moments, Bundsen's heroic moves secured Metz's win, despite Esbjerg having a last chance to snatch a draw.