The Liverpool captain came on at half-time in England’s 1-0 victory over Czech Republic, replacing Declan Rice at Wembley.
Henderson thought he had netted his first goal for the Three Lions and the game’s clincher in the 86th minute, but saw his close-range finish chalked off for offside.
Regardless, the result sees Gareth Southgate’s side finish top of Group D and means they’ll face the runners-up in Group F on June 29.
Elsewhere in the group on Tuesday night, Scotland were beaten 3-1 by Croatia at Hampden Park, confirming a fourth-placed finish in the standings.
Robertson, Scotland’s captain, played all of the contest, which was settled by goals from Luka Modric and Ivan Perisic in the second half.