Henry made 502 appearances for Stevenage over two spells at the club, initially joining in 2005 before returning in 2014 after two seasons at Luton.
The right-back lifted two FA Trophy titles and helped the club secure successive promotions from the Conference to League One in 2009.
Henry told the Sky Bet League Two club’s official website: “I will remember my time here with a big smile on my face. Football and life goes so quick that it is important to enjoy every moment of it and I have done that.
“I have enjoyed playing, training and coming to work every day and leave with no regrets. I know I can walk out of here with my head held high and chest puffed out, because I have given absolutely everything.”