The 34-year-old spent the second half of last season at Coventry City and manager Adam Murray has swooped to bring the frontman to One Call Stadium with the start of the season just three days away.
Henderson has spent 16 years as a professional after beginning his career at Reading and has since played for 10 different clubs, mostly in The Championship.
Boasting over 120 professional goals, Henderson was part of the Watford side which won promotion to the Premier League in the 2005/06 season.
After spending three seasons with Watford, including a season in the top flight, he joined then-Championship club Sheffield United on a four-year deal for a fee of £2,000,000.
The London-born striker left Bramall Lane following the Blades’ relegation to League One and went on to sign for Millwall where he scored 26 goals in 55 appearances.
Henderson remained with the Lions until January 2013 when he signed for Nottingham Forest on a short-term deal until the end of the season.
Following a successful spell with the Reds, Henderson agreed a new two-year deal to remain at the City Ground, however he left a year later to join Leyton Orient after leaving Forest by mutual consent.
After spending a season with the then-League One outfit, Henderson spent time with both Scunthorpe United and Coventry City, before leaving the Ricoh Arena at the end of last season.
After signing at One Call Stadium, the 6ft 2in striker told mansfieldtown.net: “I’m very pleased to have put pen to paper and I look forward to meeting my new team mates and also the season’s opener on Saturday.
“I am as hungry for success now as I was 10-15 years ago, when I began my career, and have come here to be a part of a winning team.”
The deal will be completed subject to EFL ratification.