Brighton midfielder Pascal Gross struck a late equaliser from the spot after Danny Welbeck won a penalty via video replay.
Afterwards, asked if he would get rid of VAR, Henderson fumed: "I don't want to speak for anybody else but in my opinion I would. I just want to play football as normal. I saw Kevin de Bruyne saying in an interview they have changed so many rules we don't know what they are anymore. That for me is a big problem. We are talking about instances all the time and not the football. In my opinion I would rather play without it, yeah."
On the VAR decisions over the course of the game, Henderson also said: "I can't really speak about it because I'll get myself in trouble. If they're offside, you do the line thing, then what can you do? The third one, I don't know, it's not a penalty.
"You can think I'm biased but if you ask four or five or their lads they will say the same thing. They said it walking off the pitch. You feel as though there are a lot of decisions that go against you but that decision for me today is baffling."