Leicester flanker Neil Back, who was axed from Woodward's pre-tournament squad, returns on the bench, as does Gloucester's James Simpson-Daniel, but there is no place in the 22 for world record cap holder Jason Leonard.
Bath prospect Matt Stevens will provide prop cover instead of Leonard.
Dawson regains his place instead of Andy Gomarsall, and Worsley has recovered from a hamstring strain to take over from Chris Jones in the backrow, but Borthwick's promotion comes after injuries sustained over the weekend by Danny Grewcock and Simon Shaw.
Grewcock suffered a heel injury in Bath's Powergen Cup quarter-final defeat against Leeds two days ago, while Shaw has a facial injury, the extent of which was confirmed following an X-ray today.
It means that Borthwick, who was ruled out of the Scotland game by suspension, now steps up to win his ninth cap.
"In a very short space of time we've lost Martin Johnson, Danny Grewcock and Simon Shaw at lock, but we are excited about Borthwick," said Woodward.
The England boss also welcomed back Dawson to the fold and added: "Since the World Cup he has been a little slow coming back but he's back to full fitness now.
"I have been pleased with Andy Gomarsall in the first two games but I think Matt is just a little bit ahead - only a small bit - but he still has the edge."
England team to play Ireland in the RBS 6 Nations Championship at Twickenham on Saturday, March 6:
I Balshaw (Bath); J Lewsey (Wasps), W Greenwood (Harlequins), J Robinson (Sale), B Cohen (Northampton); P Grayson (Northampton), M Dawson (Northampton); T Woodman (Gloucester), S Thompson (Northampton), P Vickery (Gloucester), S Borthwick (Bath), B Kay (Leicester), J Worsley (Wasps), R Hill (Saracens), L Dallaglio (Wasps, capt).
Replacements: M Regan (Leeds), M Stevens (Bath) C Jones (Sale), N Back (Leicester), A Gomarsall (Gloucester), O Barkley (Bath), J Simpson-Daniel (Gloucester).