Henderson, who coaches defensive backs, was taken to a nearby hospital for further examination, but he was described as coherent after the incident. The car smashed into a barricade but Henderson was not hurt, the team said.
Henderson, 53, is in his 10th year as an NFL assistant, but first with Arizona. Last season he was out of the NFL after serving as defensive backs coach for Jacksonville in 2008.
The Cardinals play host to the Cowboys on Saturday night and will be without
starting outside linebacker Joey Porter and kick returner LaRod Stephens-Howlings.
Porter has been sidelined with a triceps injury from last Sunday's loss at Carolina. Stephens-Howling, who also plays on the kickoff and punt teams and sees some action at running back, has been nursing a hamstring injury.
Dallas wide receiver Roy Williams had been listed as questionable with a groin injury but is active for Saturday's game.
Information from The Associated Press was used in this report.