The 29-year-old's return to the Liberty Stadium ended in defeat but playing at full-back Henson put in another solid display which pleased Burnell.
"It's great to see him back playing rugby and next week against Leinster will be another challenge for him," said Burnell.
"He hasn't missed a training session. He's fantastic in our environment and speaks well in out team meetings.
"He didn't do anything wrong again, he kept us going forward and the most pleasing thing is that he's got through another full game."
Henson's current deal with the Blues will see him remain at Cardiff City Stadium until the end of the season and he will look to continue his form to try and force his way into Warren Gatland's RBS 6 Nations squad.
Wales kick off their 2012 campaign with a trip to Dublin to face Ireland on Sunday February 5.