Both players were part of the initial squad called up for the March international break but initially participated in only indoor training alongside Harry Kane and Bukayo Saka.
While Kane and Saka have since left the England camp, Palmer and Henderson missed the heavyweight clash against Brazil on Saturday with minor injuries but are now in contention to feature against Belgium on Tuesday.
Neither of them are expected to be handed starting roles as England look to bounce back from a narrow defeat to the Selecao last time out, but their impending return to action is certainly a welcome boost.
England are missing several players through injury with Kyle Walker and Sam Johnstone the latest to pull out of international duty. Rico Lewis and James Trafford have replaced them.
The Three Lions will be looking to put on a show against Belgium at Wembley Stadium as they continue their preparations for the 2024 European Championship.
England have been drawn alongside Serbia, Denmark and Slovenia in Group C and will head into the tournament as one of the favourites.
However, the defeat to Brazil has raised questions about England’s capabilities of ending their 58-year wait for a major trophy.