Henson, who met with his Wales colleagues on Sunday to discuss the book, says offending fellow members of the Grand Slam winning side was 'the last thing he wanted to do'.
The Ospreys centre says he hopes the meeting cleared the air between him and the Wales camp and he can now move on and put any talk of the book and its contents behind him.
"The rest of the squad asked me to meet with them on Sunday and I was really happy to do so," said Henson.
"They wanted to make it clear to me that they were unhappy with some of the things that I said in the book and I have fully taken on board everything they said to me.
"I said in the meeting that I would like to apologise to anyone who was offended by anything that was written and I would like to go on record publicly saying that too.
"I didn't mean to offend anyone, it's the last thing I wanted to do, and I do understand why the boys were unhappy, and I apologise to them.
"We were a close and tight-knit group during our Six Nations campaign and I don't want to spoil that.
"All I want now is to forget about it, the book's out there, there's nothing more I can do about that, I just want to draw a line under the whole thing and move on.
"I want to get back to playing rugby for the Ospreys and hopefully get back to playing well enough to be selected by Wales, re-join my international team-mates and move forward.
"I was a small part of a large group of players that did something very special last season and I want to be a part of that again."
Wales captain Gareth Thomas, who arranged the players only meeting, added that he feels the conversation was a healthy one and it cleared the air.
"We were pleased to see Gavin and it's great that he's come out in public and accepted he has been wrong with some of the things he's said," added Thomas.
"We needed to discuss it face-to-face so there was no mis-understanding. As a squad of players we now feel we can move on and hopefully this will be the last public comment on the matter."
As the countdown continues for RWC2015, Tournament Chief Executive Debbie Jevans visited the Millennium Stadium to discuss preparations for the eight matches and reveal the positive news that 100,000 tickets for games at the home of Welsh rugby have sold in the last seven days.
Jason Harries is targeting a first win on the World Series circuit this season with Wales. The series returns to action this weekend in Dubai where Harries is part of a team hoping to build from its efforts in round one in October.
Wales skipper Jevon Groves says his side have addressed a few points from Gold Coast and aim to 'hit the ground running' in the next two rounds of the World Series, kicking off with this weekend in Dubai before heading off to South Africa next week.
Wales Sevens manager Steff Thomas is hopeful his side can build from a quarter-final spot in the opening round of the World Series in Australia when his side take part in the forthcoming double header in Dubai and South Africa.