"It surprised me a little bit. ...That's the show, you never know," Henderson said on "Good Morning America." "I think that's part of the excitement in watching it. You never know who's going to go. ... I had such a ball."
Henderson, best known as mom Carol Brady on the classic hit TV series "The Brady Bunch," received her best scores yet from the judges for her tango to the "Brady Bunch" theme song. But it wasn't enough to save her from elimination.
Upon learning she was the fifth competitor to be be voted off this season, Henderson flashed a smile and kissed her professional partner, Corky Ballas.
"I've loved this show since it began," she said. "I hope I've inspired people to get up off their behinds and live and dance and enjoy life."
Henderson, who at 76 was the oldest competitor in the show's 11th season, received straight sevens from the judges this week.
"Parts of that tango were excellent," show judge Len Goodman told her, according to the "Dancing With the Stars" website. "A couple bits were a little bit too frantic ... but I think that's possibly your best dance so far."
Judge Carrie Ann Inaba called Henderson a "sexy senior" for her performance.
Over the course of the show, Henderson danced her heart out, shaking it up with a racy rumba that raised some eyebrows.
"I just can't help it. ... It just oozes out of me," she said on "GMA." "I'm bringing sexy back, and that's all there is to it."
Florence Henderson's Graceful Exit From 'Dancing With the Stars'
Despite being voted off, Henderson was full of praise for "Dancing With the Stars."
"I have been in television for over 50 years," she said, "and I have to say, in all honesty, that this is one of the best produced shows I have ever been on."
She singled out members of the show's cast and crew, its judges, "and most of all, this darling man, Corky," she said, referring to her dance partner.
In a voiceover segment after her departure, Henderson revealed why she loved the show so much.
"At my age, you can still be hot and sexy and mix it up," she said. "I feel like a kid again."
"It was surreal for me," she said. "It was like, 'I'm actually finally dancing on "Dancing With the Stars."'"
As the show closed and Henderson and Ballas embraced on the dance floor for one last time time, Grey, who was the first of the three to learn she would be returning, appeared close to tears.
Remaining 'Dancing With the Stars' Celebrity Contenders:
Brandy is a platinum-selling R&B and pop singer, actress, songwriter, and record/television producer. In 1994, at the age of 15, Brandy released her eponymous debut album, which sold more than 6 million copies. Following a major success with "The Boy Is Mine," a duet with singer Monica that spent 13 weeks at No. 1 on the Billboard Hot 100 Singles Chart, she won a Grammy Award for Best R&B performance by a duo or group. The accompanying album, "Never Say Never," in 1998 sold more than 16 million copies worldwide. A series of hit CDs followed, including "Full Moon," "Afrodisiac" and "Human," bringing the star's sales to more than 30 million records to date. While maintaining a recording career, Brandy also gained fame as an actress, starring in several film and TV projects, including the popular UPN sitcom "Moesha" (1996-2001), the 1997 version of Rodgers and Hammerstein's "Cinderella," "Double Platinum," a miniseries co-starring Diana Ross, and the movie "I Still Know What You Did Last Summer." Brandy has also been spokesmodel for Cover Girl, Candies Shoes, DKNY, Sketchers Shoes and Ultima/Kaneka brand by Brandy. Her civic and charity interests include the Make-A-Wish Foundation and the Norwood Kids Foundation, which supports music and the performing arts in public schools. She is currently filming season two of the hit VH1 reality show "Brandy and Ray J: a Family Business" in which she stars and is executive producer. She is also in the studio recording a new CD for release in 2011.
Three-time NBA champion with the Los Angeles Lakers, actor and producer Rick Fox has appeared in a number of film and television projects, sharing the screen with actors ranging from Whoopi Goldberg to Henry Winkler to Angela Bassett and Shia LeBeouf. Fox's acting debut came in 1994 in William Friedkin's "Blue Chips." Similar roles followed in 1996's "Eddie" and 1998's critically acclaimed "He Got Game" (directed by Spike Lee) before Fox's breakout role on the hit HBO series "Oz." Since then, Rick has appeared in more than a dozen network shows, including "Ugly Betty," "One Tree Hill," "The Game" and "Dirt." In addition, Fox has appeared in numerous films, including "Resurrection," "Holes," "Mini's First Time" and Tyler Perry's "Meet The Browns." While Fox continues to strengthen his craft, he's just as busy behind the camera, developing his own film and television projects for his production company, 1744 Entertainment. As a star basketball athlete, he attended the University of North Carolina at Chapel Hill and was coached by the legendary Dean Smith. Fox began his pro basketball career when he was drafted into the NBA by the Boston Celtics as a first round pick. He went on to be the captain of both the Boston Celtics and the Los Angeles Lakers, where he was coached by 11-time champion Phil Jackson. Fox is a father of two and currently resides in Los Angeles.
A beloved actress of both film and television, Jennifer Grey is best known for her starring roles in the iconic movies "Dirty Dancing" and "Ferris Bueller's Day Off." Grey starred as Frances "Baby" Houseman in the award-winning, box office hit "Dirty Dancing," which is widely considered one of the best dance movies of all time. Some of Grey's other films include Ben Affleck's "Bounce," "Red Dawn" and "The Cotton Club." Grey starred in the television sitcom "It's Like, You Know …" and has made memorable television appearances on such shows as "Friends," "John From Cincinnati," "The New Adventures of Old Christine" and an upcoming episode of the medical drama "House." She has also starred in various television movies, including "A Case for Murder," CBS's "The West Side Waltz" and a Lifetime original movie "Road to Christmas." Jennifer is the daughter of Tony and Academy Award winner Joel Grey, and resides in Los Angeles with her husband, actor-director Clark Gregg, and daughter.
Kyle Orlando Massey stars as Cory Baxter in Disney Channel's No. 1 hit sitcom, "Cory in the House," Disney Channel's first spinoff. He originated the role of Cory in Disney's "That's So Raven," the first show in Disney's history to produce more than 100 episodes. For his work on "That's So Raven" and "Cory in the House," he received an NAACP Image Award nomination. In addition to appearing in numerous commercials, he starred in the Disney Channel Original Movie, "Life is Ruff." He has a recurring role on the animated series "American Dragon: Jake Long" and sings the main title theme songs on "Cory in the House," "Yin! Yang! Yo!" and performed the title track for Walt Disney Pictures' "Underdog." Currently, Kyle is starring as the voice of Milo on the Disney Channel's upcoming animated series "Fish Hooks." For his prowess in golf, he won first place in the National Minority Junior Golf Tournament in 2003. Kyle has participated in several celebrity golf tournaments, placing third in a recent White House Golf Tournament. Together with his brother, Christopher, Kyle has worked on projects to benefit the charity organization Feed the Children and traveled to Africa for the network prime-time television special "Eyes on Kenya." They have also performed their rap music in "Heroes Among Us: the 2009 Hero Awards" and in MyNetworkTV's "The Spirit of Christmas." Currently, they are co-hosting and starring in the comedy series "World's Funniest Moments."
Bristol Palin, former first daughter of Alaska, entered the national spotlight when her mother, former Alaska Gov. Sarah Palin was selected to be John McCain's running mate in the 2008 presidential election. Bristol Palin traveled the country, alongside her mother, father and siblings, on the campaign trail. After giving birth to her son Tripp, and becoming a single teen mother in 2008, Palin became a spokeswoman for the prevention of teen pregnancy and other teen issues. As an advocate, Palin wanted to share her story with other teens who may one day face a similar situation. Palin also acts as teen ambassador for the Candie's Foundation to prevent teen and unplanned pregnancy. As part of her campaign, Palin recently guest-starred as herself on an episode of ABC Family's teenage drama "The Secret Life of the American Teenager." Palin resides in Alaska with her son and family.
After starring in six seasons of the hit series "The Hills," Audrina Patridge has joined the ranks of young Hollywood as one of the most sought-after and talked about talents on television. Patridge, who aspired to become an actress from a very early age, has been honing her skills with well-regarded coaches and private acting classes. She made her debut on the big screen last fall in the thriller "Sorority Row." Other film credits include the action-adventure film "Into the Blue 2" and "Honey 2." Patridge has also tested her hand at comedy, appearing on an episode of the sitcom "Do Not Disturb" and in a skit for "MAD TV." Last summer, Patridge made headlines steaming up TV screens in a commercial for Carl's Jr. This July, she became the latest Bongo girl, shooting the fall advertising campaign with famed photographer Tony Duran.
Kurt Warner is the first quarterback to participate in "Dancing With the Stars." In 1999, he emerged from obscurity to lead the St. Louis Rams to a victory in Super Bowl XXXIV. That same year, Warner was named the NFL and Super Bowl Most Valuable Player. As the ringleader of the Greatest Show on Turf, he led the Rams to two additional playoff appearances, including another Super Bowl, and received Pro Bowl honors for three consecutive years (1999-2001). He also earned his second NFL MVP in 2001. Injuries led Warner to move from the Rams to the Giants, and finally the Arizona Cardinals in 2005. In 2007, he led the Cardinals to their first Super Bowl berth, was voted to his fourth Pro Bowl and surpassed several Cardinals' franchise records, including touchdowns, attempts, completions, completion percentage and passer rating. Warner's gridiron accomplishments pale in comparison to the dedication he devotes to the community. In 2001, Kurt and his wife Brenda established the First Things First Foundation, a nonprofit public charity dedicated to affecting lives by promoting Christian values, sharing experiences and providing opportunities to encourage everyone that all things are possible when people seek to put first things first. Warner was born and raised in Iowa and played college football at the University of Northern Iowa. He lives in Arizona with his wife Brenda and seven children.
ABC News' Eileen Murphy contributed to this report.