His maternal grandfather was George Keate and his elder brother was John Henderson, the antiquary and benefactor of the British Museum.

[4] Many of Henderson's paintings were engraved by himself and others such as Henry A. Papprill, John Harris,[6] and the renowned Samuel William Fores.

In the series numbered Plates I-VI, “Changing Horses”, “All Right”, “Pulling Up To Un-Skid”, “Waking Up”, “The Olden Time”, “The Night Team”, the first five were engraved by John Harris, the sixth by Henry A Papprill.

Examples as large format aquatints can be seen in the UK Government Art Collection[9] and have been found at auction in 2006, 2008, 2014.

[14] Henderson was buried in Kensal Green Cemetery and he has a memorial at St Nicholas's Church in Shepperton.