1) The answer to the stated question is No !
For example the inclusion $$f:\mathbb P^1(k)\to \mathbb P^2(k):|x,y]\mapsto [x,y,0]$$ has as pull-back map the identity $$f^\ast\colon k[\mathbb P^2(k)]=k\rightarrow k[\mathbb P^1(k)]=k:q\mapsto q,$$ (which is certainly injective) but the image of $f$ (consisting of the points $[x,y,0]$) is certainly not dense in $\mathbb P^2(k)$.
2) However if $W$ is affine the answer is Yes!
a) The key remark here is that a subset $S\subset W$ is not dense if and only if there exists a non-zero regular function $0\neq \phi \in k[W]$ such that $\phi(s)=0$ for all $s\in S$.
Beware that this key remark is completely false for non-affine $W$ !
b) Now, if $S=f(V)$ the above condition becomes $\phi(f(v)))=0$ for all $v\in V$ or equivalently $f^\ast(\phi )=0\in k[V]$.
But if $f^\ast$ is injective it is impossible to have both $0\neq \phi \in k[W]$ and $f^\ast(\phi )=0\in k[V]$, so that the inexorable conclusion under this injectivity hypothesis is that $f(V)$ is dense in $W$.
[By the way, irreducibilty of any variety in sight is irrelevant]
Edit: a justification for 2) a)
If $S\subset W$ is not dense, there is a closed subset $C\subsetneq W$ with $S\subset C$.
And since $C=V(\phi_1,\cdots, \phi_r)=\bigcap V(\phi_i)$ for some $\phi_i\in k[W]$, we may assume (by possibly taking a bigger $C$) that $C=V(\phi)$.
Now $\phi \neq 0$ since we have $C=V(\phi)\neq W$ and we have found the promised $\phi \in k[W]$.
Conversely if some $\phi\neq 0\in k[V]$ vanishes on $S$, then $S\subset V(\phi)\subsetneq W$ and thus $\bar S\subset V(\phi)\subsetneq W$, which implies that $S$ is not dense.