Chamberlain came on for Daniel Sturridge in the 73rd minute of Liverpool’s 5-0 win over Huddersfield for his first appearance since being injured in a Champions League clash with Roma in April last year.
Liverpool were 4-0 up when he came on thanks to Naby Keita’s early effort, a brace from Sadio Mane and one from Mohamed Salah.
He almost scored moments after but saw his chance of a dream comeback snatched away by the boot goalkeeper Jonas Lossl.
Salah wrapped up the victory with his second of the game late on.
Henderson was clearly desperate to see Oxlade-Chamberlain hit the back of the net but revealed he was delighted just to see him back after more than a year on the sidelines.
“It was another brilliant performance,” he said,
“Teams that have been relegated can be dangerous because they have nothing to lose and they go out and play, but we got a great start.
“We scored some fantastic goals and kept a clean sheet so it was a good night.
“They had a couple of corners and set-plays but we managed to deal with it well and go on to dominate the game.
“I’m delighted for Alex Oxlade-Chamberlain. He worked so hard to get back to where he is now and when he came on he looked as if he had never been away.
“He has been sharp in training and I wish that chance went in for him, but we are all delighted to have him back because he’s an important player.”
Liverpool went back to the top of the Premier League to pile the pressure back onto Manchester City who go to Burnley on Sunday.
Their attention now turns to the first leg of their Champions League semi-final with Barcelona on Wednesday night.
“We are looking forward to the Barcelona trip,” Henderson added.
“It’s a tough place to go but we have a great belief in ourselves and we are looking forward to showing what we can do.”