[6] A post office called Henry was established in 1869, and the name was changed to Henrietta in 1908.

Henrietta is part of the Kansas City metropolitan area.

According to the United States Census Bureau, the city has a total area of 0.60 square miles (1.55 km2), all land.

There were 141 housing units at an average density of 235.0 per square mile (90.7/km2).

22.9% of all households were made up of individuals, and 7.4% had someone living alone who was 65 years of age or older.

There were 149 housing units at an average density of 249.4 per square mile (96.3/km2).

27.4% of all households were made up of individuals, and 7.3% had someone living alone who was 65 years of age or older.