A new species of the genus Henricia Gray, 1840 that belongs to the family Echinasteridae is described from South Korea. Henricia epiphysialis sp. nov. has epiphyseal ossicles at the ends of the abactinal and lateral plates, and the abactinal and lateral spines form a hooked crown. The partial sequence of the mitochondrial COXI gene (537 bp) of H. epiphysialis sp. nov. was obtained, and the new species was morphologically and genetically compared with other related Henricia species.