Henderson sent the Us into a 3-1 lead in the 71st minute when he collected Michail Antonio's knock-down, took a touch and then sent a right-footed effort into the top corner from 25 yards.
Colchester eventually ran out 4-2 winners and the 26-year-old was left to reflect on a special strike, his sixth of the campaign to date.
"This season I've got a couple of goals from outside of the box, like the one at Wycombe in the Carling Cup," he told the Gazette.
"This goal was more special, though, because it was at home in front of our own fans and it's up there with my top goals in my career so far.
"It's always nice to play in a free-flowing game and when there's opportunities there you always think you're going to score."