He was confirmed as the club's new manager on Twitter on Saturday morning with Monaco posting a photo of him in the early stages of his playing career with the messages '#He'sComingHome' and '#ForeverMonaco'.
Jardim had led Monaco to the French title in 2017.
The 41-year-old French World Cup victor, who had been working as an assistant coach for the Belgian national team, signed a contract through until June 2021.
However, in many respects, the Monaco role is the ideal starting point from which Henry can begin his career as a manager by building a side in his own image and demonstrating the true impact of his presence at a club which truly needs such a positive influence.
Henry, who started his career at Monaco and won the Ligue 1 title in 1997, had been serving as an assistant to Roberto Martinez with Belgium and was on the bench for Friday's 2-1 UEFA Nations League victory over Switzerland.
However, last year's Ligue 1 runners-up have struggled this season, sitting 18th and with only one win in all competitions.
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Monaco have appointed Thierry Henry as their new head coach, with the Frenchman replacing Leonardo Jardim.
Henry scored 51 goals in 123 appearances for France, winning not only the 1998 World Cup but also Euro 2000.
Should Emery spend a similar duration of time at Arsenal, by the time the Spaniard's job is done at the Emirates, Henry may just have gained the level of experience and the coaching pedigree required to make the step up to the club that he still feels passionately for.
The former striker will be joined by Joao Carlos Valado Tralhao, under-23 coach at Benfica, and Patrick Kwame Ampadu, coach at Arsenal's academy and father of Chelsea player Ethan Ampadu.