Caldwell had indicated last week the team could make a change if Freese continued to struggle. Freese missed another field goal attempt in Sunday's 19-7 win over the Green Bay Packers, making him 3-for-7 overall this season and 0-for-4 on attempts longer than 40 yards.
Henery, 27, was the kicker for the Philadelphia Eagles from 2011-13 and made 74 of 86 attempts. He lost his job in training camp to rookie Cody Parker.
Freese was Detroit's seventh-round pick in this year's NFL draft.
- Ben Estes