Blades manager Kevin Blackwell said Henderson would give the his side added strength as they look to get back into the Premier League.
"Darius is someone I have tracked for a while and when Rob Hulse decided to go to Derby there was only one man in my mind that I wanted to replace him.
"He brings the quality of knowing how to win the division and I think that will be important.
"He knows how to play the game, he is a lad who knows about working for a living and I think that will help him fit into the Blades ethos."
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