The Sunderland-born winger sent a deft lob over the head of Addicks keeper Joe Woolley three minutes into added time with 30 minutes of extra time looking inevitable.

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Kevin Ball's lads now go through to a two-legged semi against Manchester City.

The visitors took the lead 10 minutes into the second-half when Martyn Waghorn claimed his 20th goal of the season.

The South Shields hitman found space in the box to volley home Henderson's cross.

Charlton – prolific in the last two rounds by firing a total of 11 goals past Sheffield United and Swindon – drew level within minutes, though, Rashid Yussuff claiming a loose ball 20 yards out to fire a left-foot shot into Dan Staples's bottom corner.

The home side came on strong, but Sunderland showed their fitness and tenacity.

They had eliminated holders Liverpool in extra-time last time out and it looked like a further 30 minutes of duelling was on the way until Henderson's moment of magic.

Seizing on the ball 10 yards outside the box, he saw Woolley off his line and guided a perfect left-foot lob over the keeper's head to spark memorable celebrations on and off the pitch, where Sunderland had the backing of about 500 fans in a crowd of 1,840.

Sunderland: Staples; Kay, McArdle, Cornforth, Liddle; Henderson, Colback, Hourihane, Luscombe; Cook, Waghorn. Subs not used: Hunter, Brown, L Noble, R Noble, Scott.

Charlton: Woolley, Solly, Long, Stavrinou (Harkin 60), Mambo, Coleman, Wagstaff, Shelvey, Godfrey (O'Shea 76), Uchechi, Yussuff. Subs not used: Rygaard-Jensen, Christie, Clark.