Midfielder Henderson made it through 45 minutes of the Reds’ pre-season friendly with non-league Tranmere.
The club captain had been out of action since he suffered a foot injury in February – meaning he missed the last three months of the campaign.
Henderson looked steady in a comfortable Liverpool performance against the National League side – with Jurgen Klopp’s side going into the break 2-0 up thanks to goals from James Milner and Marko Grujic .
Henderson was thrilled to return, he tweeted: “Great to be back out on the pitch tonight! Good start to pre season.”
Klopp had admitted before the clash that he was looking forward to being able to select the England man again.
“Having Hendo back on the training pitch is a nice thing. Everyone who knows him knows how hard it has been for him, it is hard for everybody if you cannot play, but if you know Hendo you know for him it is much harder than for others.”
“So far he could do the full and complete programme so that’s good. It was good last season – it was not that when we left to go into the holiday we thought, ‘Oh thank god we don’t see them for a few weeks’.”
“It was more that we knew we needed a rest, but we were all looking forward to coming back and seeing each other again, so that’s how it feels now.”
“It will 100 per cent be a great moment to see him back on the pitch. It was a long time unfortunately, but now we have more or less both feet behind us so that’s good; now we can make the right steps in the right direction to stay in the picture. That’s good and I am really looking forward to it.”