Jon Scheyer added a career high with 30 points for the Blue Devils (22-5, 8-4 Atlantic Coast Conference). They twice led by 22 points in the first half but let the Demon Deacons creep within two points before finally putting them away with a 16-6 run that Henderson keyed.
Jeff Teague scored 28 points and James Johnson added 26 for the Demon Deacons (20-5, 7-5). They shot 61 percent but allowed Duke to hit 54 percent of its attempts - the worst performance of the season by the ACC's stingiest defense.
Yet Wake Forest managed to twice close within two points in the final moments, the last coming when freshman Al-Farouq Aminu's alley-oop dunk from Johnson made it 80-78 with 7 1/2 minutes remaining.
Scheyer knocked down three free throws roughly 30 seconds later to start the decisive run in which Duke hit six of seven attempts from the foul line. Henderson and Scheyer then capped the run by hitting three-pointers about a minute apart, with Scheyer pushing it to 96-84 with 2:12 left.
Wake Forest didn't get closer than seven points the rest of the way.
Ishmael Smith scored 12 points and L.D. Williams added 10 for Wake Forest, which has lost four straight road games. Its last victory away from Joel Coliseum came at Clemson and propelled it to the second No. 1 ranking in school history.
The Tigers (22-4, 8-4 ACC) have won six of eight and improved to 9-0 this season when Booker has a double double.
Lewis Clinch had a career-high 27 points for the Yellow Jackets (10-16, 1-12), who have lost 11 of 12 to remain in the ACC cellar.
No. 6 Michigan State 61, Wisconsin 50: : Kalin Lucas scored 17 points to help the host Spartans (21-5, 11-3) keep a one-game lead in the Big Ten with a come-from-behind victory that ended a five-game winning streak for the Badgers (17-10, 8-7).
No. 12 Villanova 89, No. 24 Syracuse 86: : Dwayne Anderson scored a career-high 22 points to lead the visiting Wildcats (22-5, 10-4 Big East) to a season-series sweep and their eighth win in nine games.
Eric Devendorf scored 22 points for Syracuse (19-8, 7-7), which has lost six of its past eight.
No. 16 Xavier 71, George Washington 53: : C.J. Anderson led five players in double figures with 14 points and the host Musketeers (22-5, 10-3), who had lost three of four, moved back into first place in the Atlantic 10.
Damian Hollis scored 15 points for the Colonials (8-16, 2-10), who fell behind 26-8 and trailed by as many as 25 points.
No. 18 Illinois 70, Ohio St. 68: : Four days after mustering just 33 points in a pitiful home loss, the visiting Illini (22-6, 10-5 Big Ten) placed three players in double figures, led by Mike Davis' 22 points, and shot 58 percent from the field.
The victory kept the Illini alone in third place in the Big Ten and gave coach Bruce Weber his 150th win at the school.
Jon Diebler and Evan Turner each had 17 points for Ohio State (17-8, 7-7), which has lost three straight Big Ten games after having won four straight.
Towson 71, Delaware 55: : Shanae Baker-Brice (23 points) posted her second straight 20-point game, Katrina Wheeler had her 10th double double (13 points, 10 rebounds), and the host Tigers (16-9, 8-7 Colonial Athletic Association) held off a late rally by the Blue Hens (12-14, 4-11) to win their third straight.
Towson went scoreless over the final 5:18 of the game as Delaware scored the final 11 points.
Delaware's Tesia Harris led all scorers with 27 points.
Niagara 70, Loyola 65: : Mallory Lawes scored a career-high 13 points and Siobhan Prior scored 22 to match her career high for the third time this year, but the host Purple Eagles (2-26, 1-16 Metro Atlantic Athletic) beat the Greyhounds (9-18, 4-13).
Niagara led for most of the first half and the last tie, at 47, happened with 11:32 left in the game.
Loyola trailed by as many as eight the rest of the way.