Hendrick, sidelined for three months since undergoing surgery after suffering an ankle injury against Yeovil in August, featured for 56 minutes in a 1-1 friendly draw with Burnley on Tuesday afternoon.
Striker Johnny Russell also made his comeback after six weeks out with a fractured fibula in his left leg. Like Hendrick, he too played 56 minutes.
Derby used the game to give several of the first-team squad minutes on the pitch. On-loan full-back Adam Smith played just over an hour while striker Conor Sammon and midfielder Ben Davies both got 75 minutes under their belts.
Burnley took the lead 12 minutes from time through Luke Gallagher but Jamie Hanson's free-kick five minutes later ensured the game finished all square.