Henning Petersen was a Danish cyclist who had a brief career during the 1960s. Petersen rode in several stage races in Europe, including multiple editions of the Peace Race and the Tour de Pologne. At the national championships he finished second with his compatriots in the team time trial in 1964. That same year he rode in the same event at the Tokyo Olympics, where he placed seventh. Petersen continued to specialise in the team time trial discipline, eventually becoming a national champion in both 1966 and 1967, in addition to winning silver in the event at the 1967 UCI Road World Championships in the Netherlands. He then turned professional, representing the Italian team Germanvox–Wega and riding in the 1968 editions of the Giro d’Italia and Milan–San Remo.