Henderson, a native of Los Angeles, California, is best known for playing Officer O'Hara on the classic television sitcom, Car 54, Where Are You?, which aired from 1961 through 1963. He also in the 1968 film Madigan, starring TOS guest actors Michael Dunn, Lloyd Haynes, and Steve Ihnat. Henderson passed away in his hometown Los Angeles on January 17th, 2004, the same day as TNG actor Noble Willingham.