UFC president Dana White recently revealed the fight to UFC Tonight.
It will take place at UFC Fight Night 32 on Nov. 9 at the 15,000-seat Goiania Arena.
Belfort and Henderson first met at Pride 32 in Las Vegas, where Henderson won a unanimous decision victory.
The two will now rematch in a 205-pound bout at UFC Fight Night 32.
Belfort (23-10) enters the fight off of back-to-back knockout victories of Michael Bisping and Luke Rockhold at middleweight, while Henderson lost his last two fights, to Lyoto Machida and Rashad Evans at light heavyweight.