Coach Jack Del Rio confirmed the hiring, but said Henderson's role on the defensive staff will be decided later.
Henderson, who worked with Del Rio in Baltimore, was out of coaching last year. He spent the 2006 season as defensive coordinator in Detroit and served in the same capacity with the Jets from 2004-05.
Henderson was the Ravens' defensive backs coach from 2000-03. Baltimore finished in the top 10 in pass defense in three of his four seasons.
He could end up tutoring Jacksonville's secondary, which struggled most of last season.
Del Rio hopes to name a new defensive coordinator soon.
Copyright 2008 by The Associated Press