"We checked on him last night, then checked on him in the morning," Vrabel told reporters.
Vrabel said Henry had zero symptoms after taking the symptom score test and worked out Monday morning.
The Titans, meanwhile, expect to be without defensive lineman Jeffery Simmons for "a couple of weeks," according to Vrabel. Simmons suffered a right knee injury in the fourth quarter of Tennessee's 31-28 overtime loss to the Indianapolis Colts on Sunday.
Earlier Monday, a source told ESPN's Adam Schefter that Henry was in the protocol, leaving his status for next Monday night's game at the Miami Dolphins in question.
Henry left the Titans' loss on Sunday in the fourth quarter to be checked for a concussion and didn't return.
Before leaving Sunday's game, Henry rushed for 102 yards and two touchdowns.
Tyjae Spears replaced Henry in Sunday's game and rushed for a career-best 75 yards on 16 carries.
Henry, a three-time Pro Bowl selection and the 2020 Offensive Player of the Year, is second in the NFL with 841 rushing yards. He also has eight rushing touchdowns.
Simmons came out of Sunday's game for one snap then returned only to come out for good three plays later. The two-time Pro Bowler has 5.5 sacks and a forced fumble in 12 games.
The Titans signed Simmons to a four-year contract extension worth $94 million in April. Tennessee selected Simmons with the 19th overall selection in 2019 after he tore his ACL in his left knee.
Sunday's loss dropped the Titans to 4-8. Tennessee is in last place in the AFC South.
ESPN's Turron Davenport contributed to this report.