UFC officials announced the Fight Night 38 event, which will air on Fox Sports 1, on Wednesday. It will take place at the Ginasio Nelio Dias.
The main event is a rematch of one of the most compelling fights in UFC history. The two first met in a back-and-forth, five-round non-title bout at UFC 139 in November 2011, and Henderson (29-11) won via unanimous decision.
Henderson, 43, hasn't recorded a win since. After a knee injury forced him from a UFC title bout against Jon Jones in September 2012, he dropped his next three fights to Lyoto Machida, Rashad Evans and Vitor Belfort.
Rua (22-8) has fared marginally better since the first meeting, compiling a 2-2 record. He knocked out Brandon Vera in the fourth round of a fight in August 2012, before suffering consecutive losses for the first time in his career.
The 32-year-old "Shogun" is coming off a 63-second knockout of James Te Huna at UFC Fight Night 33 last month.