We introduce the Poisson tensor completion (PTC) estimator that exploits inter-sample relationships to compute a low-rank Poisson tensor decomposition of the frequency histogram for samples of a multivariate distribution. Our crucial observation is that the histogram bins are an instance of a space partitioning of counts and thus can be identified with a spatial non-homogeneous Poisson process. The Poisson tensor decomposition leads to a completion of the mean measure over all bins -- including those containing few to no samples -- and leads to our proposed estimator. A Poisson tensor decomposition models the underlying distribution of the count data and guarantees non-negative estimated values obviating the need for additional constraints to ensure non-negativity. Furthermore, we demonstrate that our PTC estimator is a substantial improvement over standard histogram-based estimators for sub-Gaussian probability distributions because of the concentration of norm phenomenon.