The Liverpool captain replaces Manchester City midfielder Kalvin Phillips, who will undergo surgery on a shoulder problem.
Henderson has missed Liverpool's last three games due to a hamstring injury, but has passed a number of fitness tests over the weekend.
England face Italy in Milan on Friday, before hosting Germany at Wembley next Monday.
The Germany fixture is a final game for Gareth Southgate's players before England begin their World Cup campaign against Iran in November.
Henderson's only England game in 2022 was a 2-1 friendly win over Switzerland in March so a return to the fold will certainly boost his chances of getting into the World Cup squad.