Marvin Elliott headed the host into a 22nd minute lead, precisely placing Demar Phillips' right-sided corner kick inside the far post. It was the 28-year-old's first-ever goal for the Reggae Boyz.
Three minutes prior to the break, a lunging Blas Perez nearly leveled the score, but could not connect on a low cross from Leonel Parris.
In the 66th minute, Henriquez provided the heroics for the Canaleros. His shot from distance, which appeared to take a deflection, bounced past a diving Donovan Ricketts and found the back of the net.
Garath McCleary almost grabbed a late winner, however, his shot from 18-yards out drifted just beyond the left post.
Panama is now unbeaten in seven of its last eight meetings against Jamaica in all competitions.
Both sides have two points from their opening two Hexagonal games and sit two points behind first-place Honduras.
On Tuesday, Panama will welcome Honduras to the Estadio Rommel Fernandez, while Jamaica travels to Costa Rica for matchday three action.