Henson, 47, shared the engagement news on Monday on her Instagram page.
“I said yes y’all,” she wrote.
“He started with the Cartier love bracelet but that was my #Mothersday gift and then he dropped to his knee and I almost passed out.”
Hayden, a former football star, is 34. He played for the Chicago Bears and the Indianapolis Colts before retiring.
Their romantic relationship had been in existence for two years before the pair made it public in December 2017.
After they confirmed their relationship, Henson, a Golden Globe-winning actress, said: “I’m not the type to blast my personal business. But, you know, I think that’s important for people to know.
“I’m happy. I’m very very happy. I just am. I’m happy in my personal life. Finally, it happened to me.”
Henson’s most recent movies include Tyler Perry’s ‘Acrimony’ and ‘Proud Mary’.