Henderson, who returns to the UFC after a four-fight stint in Strikeforce, came in at 203 pounds. Rua weighed 205.
Sandwiched in the middle of a busy UFC schedule to close out 2011, the fight features two of the most successful fighters of the last decade. Both are former champions -- Henderson in Pride and Strikeforce, Rua in Pride and the UFC.
"I'm very happy for this fight," Rua said. "Hendo is a legend in MMA. I like to fight the best and he is one of the best."
Not every fighter on the UFC 139 card made weight so easily.
Bantamweight Nick Pace and lightweight Shamar Bailey each forfeited 20 percent of his purse for failing to make weight. Pace weighed five pounds over at 141 pounds while Bailey weighed three pounds over the limit at 158.
Miguel Torres was also heavy on first attempt, weighing in at 137 pounds. He was given one hour to cut the last pound.
The UFC 139 card is the promotion's first trip to the HP Pavilion.
Brett Okamoto covers mixed martial arts for ESPN.com. Follow him on Twitter.