Henningsen is a patronymic surname, created from the given name Henning. Notable people with the surname include:

• Agnes Henningsen (1868–1962), Danish writer and activist
• Alfred Meyer Henningsen (1918–2012), Norwegian politician
• Ann Margarit Henningsen (born 1949), Mexican sprint canoer
• Casper Henningsen (born 1985), Danish footballer and business executive
• Charles Frederick Henningsen (1815–1877), Belgian-American writer and military figure
• Erik Henningsen (1855–1930), Danish painter and illustrator
• Erika Henningsen (born 1992), American actress
• Frants Henningsen (1850–1908), Danish painter and illustrator
• Frits Henningsen (1889–1965), Danish furniture designer and cabinetmaker
• Inge Henningsen (born 1941), Danish statistician
• Jan Henningsen (born 1954), Danish motorcycle racer
• Juliane Henningsen (born 1984), Danish politician
• Matt Henningsen (born 1999), American football player
• Otto Henningsen (1883–1961), American politician
• Poul Henningsen (1894–1967), Danish architect and writer
• Thorkild Henningsen (1884–1931), Danish architect
• Victor Henningsen (1924–2007), American businessman