Reds supporters felt they were treated extremely poorly by French police outside the stadium, as there were delays in them getting into their seats, along with reports of fans being tear gassed.
Local authorities and UEFA had initially blamed Liverpool fans, before changing their statements.
"I always go into the new season not wanting to dwell too much on whatever happened in the previous one – for better or worse – but there is one element that I do want to look back on and that is the treatment of our fans in Paris," Henderson penned in his matchday notes ahead of Liverpool taking on Crystal Palace at Anfield on Monday.
"I know there is an inquiry going on at the minute, so I don't want to say too much at this stage, but there is a basic principle that needs to be agreed on by all involved in football and that is that football supporters should always be taken care of.
"That is absolutely non-negotiable. Safety and security shouldn't be asked for or campaigned for, they should be a given and in Paris this was not the case.
"All of the players and staff had family and friends who were caught up in the problems outside the stadium so we are all well aware of what went on and what went wrong.
"The only conclusion that anyone can come to is that something like that can never happen again.
"I'm not just speaking for our supporters here either. Every single football fan needs to know that when they go to a match, the authorities will look after them.
"For that to happen, Paris needs to be a watershed. It has to be a moment that brings about change for the better. Nothing else is acceptable."