Two new diterpenoids, ajudecunoid A (1) and ajudecunoid B (14), along with thirteen known diterpenoids, were isolated from the whole plants of Ajuga nipponensis Makino. Their structures were elucidated by the extensive spectroscopic analysis (UV, IR, MS, and NMR). The absolute configurations of ajudecunoid A (1) and ajudecunoid B (14) were defined through analysis of X‐ray crystallography. Fifteen compounds were evaluated for inhibition of the formation of osteoclasts in bone marrow‐derived macrophages (BMM) cells. Two neo‐clerodane diterpenoids ajuganipponin B (5) and (12S)‐6α,19‐diacetoxy‐18‐chloro‐4α‐hydroxy‐12‐tigloyloxy‐neo‐clerod‐13‐en‐15,16‐olide (12) showed significant inhibition of osteoclastogenesis with IC50 values of 0.88 and 0.79 μM, respectively. Here we firstly reported diterpenoids with anti‐osteoclastogenesis activity from A. nipponensis.