Stuart Pearce’s men won 1-0 on the night thanks to a late Connor Wickham goal, giving them a 2-0 aggregate win after a narrow victory at Carrow Road last week, but the tie will likely be remembered for the wrong reasons.
At full-time brawl broke out between players, coaching staff and fans, with Steve Wigley the target of an attack, as was Tom Ince just after Danny Rose received a red card for reacting to alleged racist abuse, something Henderson was disgusted by.
Speaking to The Football Association’s official website, Henderson said: "Everyone is delighted with the result and going to the Euros, but what happened tonight wasn't nice and is not called for in football.
"There was a lot of racist abuse out there from the stands and a lot going on after the game, which is hard to take for the players.
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"The players coped with the abuse really well. It's not nice, they kept their heads and were professional. I thought our players were brilliant and conducted themselves very well.
"The players completely condemn what happened."
Henderson also spoke about missiles being thrown from the stands, noting that they even had seats raining down on them, while he was bemused as to why Rose was sent off.
He continued: "There was also stones, coins and seats getting thrown at us. I didn't understand why Danny Rose was sent off at the end.
"Uefa must deal with this in the right way."