Camara produced a fine finish to slam home shortly after the break and Henderson doubled the lead just after the hour when he headed in after good work from Jamie Ward.
Bristol City were non-existent as an attacking force for much of the game despite the presence of new signing Chris Iwelumo, though they did come close to reducing the arrears when Louis Carey's thumped against the crossbar.
They could not find a way back into the game, though, and with no wins in five games, Gary Johnson's men now find themselves looking downwards in the table, while the Blades remain in the play-off mix.
After a slow start, it was Bristol City who settled quicker and Iwelumo, who was making his debut after signing on an emergency loan this morning, caused the United defence a few problems.
Sheffield United eventually came into the game and had a couple of half-chances to open the scoring. Henderson, who scored a hat-trick in the reverse fixture in November, twice headed wide of the target, the first a particularly guilty offence given he was unmarked.
Soon after, City were reliant on goalkeeper Dean Gerken to keep them on level terms. Mark Yeates' effort from the edge of the area was deflected and with Gerken wrong-footed, he managed to stick a leg out and keep the ball out of the net.
And United should have been ahead with the second half just a minute old when Derek Geary produced a fine cross, which was met by Camara, but the striker's poked effort was superbly saved by Gerken.
But the Senegal international made amends three minutes later and gave the hosts a deserved lead when he latched on to a long ball and produced an emphatic finish past Gerken and high into the net.
United continued to dominate and after Ward had fizzed a free-kick just over the crossbar, they put the game to bed with a second goal in the 62nd minute.
Ward was influential as he made headway down the left, before cutting inside and crossing for Henderson, who had no problem heading home his 12th goal of the season.
Bristol City had been restricted to long-range efforts by a solid United defence, but they came close to getting back into the game with 20 minutes left, but Carey's powerful from Paul Hartley's corner hit the crossbar.
The Robins were unable to fashion any other chances as United held on to register their second home win of 2010.
Source: Team Talk
Source: Team Talk