"I'm happy in my personal life. Finally it has happened to me!" the Empire star said.
Henson opened up nearly two years after The Shade Room posted photos of her holding hands with Hayden. She said she prefers to keep her personal life private, although the pictures made it pointless to keep the relationship a secret.
"It was all over The Shade Room anyway," the actress explained. "You know, I'm not the type to blast my personal business, but you know, I think that it's important for people to know that I'm happy. I'm very, very happy. I just am. We've been together for two years."
Henson showed off her early Christmas gift from Hayden, a French bulldog puppy she named K-Ball, in an Instagram photo this week. She followed up Thursday by posting a picture of the dog with Hayden.
"Big #KBall with Lil squirt #KBall watching daddy brush his teeth!" the star gushed in the caption.
Henson plays Cookie Lyon on Empire, which returned for a fourth season on Fox in September. The series co-stars Terrence Howard, Bryshere Y. Gray and Jussie Smollett.