Jardim was sacked earlier this week.
Following his appointment, Henry tweeted, "It is with great pride that I am delighted to announce that I have accepted the position to become the manager of AS Monaco FC. I was fortunate to receive some very attractive offers over the last few months but Monaco will always be close to my heart. Having started my footballing career with this great club, it seems like fate that I will now begin my managerial career here too. I'm incredibly excited to be given this opportunity but now the hard work must begin. Can't wait."
The 41-year-old Frenchman made his professional debut with Monaco in 1994 and has played for Juventus, Gunners, Barcelona, before making a return almost after two decades.
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