<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0206</schemaVersion>

    <documentType>3</documentType>

    <periodOfReport>2016-01-27</periodOfReport>

    <noSecuritiesOwned>1</noSecuritiesOwned>

    <issuer>
        <issuerCik>0000885074</issuerCik>
        <issuerName>AUTHENTIDATE HOLDING CORP</issuerName>
        <issuerTradingSymbol>ADAT</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001664441</rptOwnerCik>
            <rptOwnerName>Roshan Hanif A</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>AEON CLINICAL LABORATORIES,</rptOwnerStreet1>
            <rptOwnerStreet2>2225 CENTENNIAL DR.</rptOwnerStreet2>
            <rptOwnerCity>GAINESVILLE</rptOwnerCity>
            <rptOwnerState>GA</rptOwnerState>
            <rptOwnerZipCode>30504</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>1</isDirector>
            <isOfficer>1</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
            <officerTitle>Chairman</officerTitle>
        </reportingOwnerRelationship>
    </reportingOwner>

    <footnotes></footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Hanif A. Roshan</signatureName>
        <signatureDate>2016-01-29</signatureDate>
    </ownerSignature>
</ownershipDocument>
