The 21-year-old has impressed at Cheltenham and scored his first goal for the club against Mansfield Town on Saturday.
Cheltenham manager John Ward told the club's official website: "Obviously i'm very disappointed because Karl has been playing well and has been an important player for us".
Henry was into his second month on loan at the Robins and becomes the second player to be recalled by Stoke from Whaddon road following Brian Wilson's recall last month.
Both players are out of contract at the end of the season and if Stoke decide not to offer the players contracts, there is likely to be a host of clubs battling to sign the talented pair.
However, it is unlikely that Tony Pulis will want to let the players go as he is keen to develop the youth players and bring them into the first team, as he has done so with Lewis Neal this season, who has played a bigger role than expected.