Henderson's Jeep was one of several vehicles struck by a driver attempting to elude police after the vehicle was reported as stolen earlier in the day.
Henderson was transported to a hospital and was treated and released. He suffered scrapes and bruises.
Henderson expressed thanks to rescue personnel, police and others in his social media post on Monday.
"With OTAs a week a way and a season that I'm competing for a significant roll, the most traumatic event I've probably ever had to deal with occurs," he wrote. "T-boned, airborne, flipped, and rolled. I plowed through my jammed door and exit my Jeep on my own. I'm truly blessed that God protected me through this accident. Without his favor I don't know if I would've survived.
"I'm thankful to only came out with minor injuries and a few scrapes and bruises. Thank you to the Parker Police and South Metro Fire Rescue in Parker for getting to me asap, attending all my needs and transporting me to the hospital safely. Thank you to the doctors at Parker Adventist for treating me as a first class patient also. I'm very grateful and humbled to be alive.
"My family and I thanks everyone who has prayed for me over the last few days. My thoughts and prayers are with the other victims and I hope they all are safe and doing well. In the mean time I'm rehabbing and getting my body ready to participate in OTAs next week. Thanks everyone again!!! Jeremiah 29:11"
According to police in Parker, Colo., the stolen vehicle was driven by a 36-year-old woman, Rainbow Sunset Espinoza.
Espinoza was booked on multiple charges, including reckless driving, DUI, aggravated motor vehicle theft, vehicular eluding and assault with a deadly weapon.
Espinoza hit multiple cars during the pursuit, causing four people to be transported to hospitals.
Henderson had seven carries for 13 yards as a rookie last season. He played in five games.
--Field Level Media