Born in Nottingham, East Midlands, Henshaw began racing at the nearby club circuit at Darley Moor in Derbyshire, progressing to circuits like Mallory Park and twice winning the Scarborough Gold Cup held at the Oliver's Mount race circuit.

His road race entries included a total of 23 appearances at the Isle of Man TT from 1981 to 1989.

He also made appearances in motor-racing films Silver Dream Racer and Space Riders.

[5] Henshaw died after an accident at Quarry Bends during the 1989 Isle of Man TT races.

[6][7][8] The popular Nottinghamshire man has a Trophy named in his honour at the Gold Cup races held at Oliver's Mount,[6] a road-based circuit through parkland near the Yorkshire east coast holiday resort of Scarborough.