The announcement of Henshall's decision to take up a role at an unnamed Premier League club was revealed last week and the Midlands club have now confirmed that he will be joining them.
Henshall, 27, who joined Doncaster from Shrewsbury Town in December, 2019, will be involved in the appointment of his successor at Rovers.
His move to Villa could have long-term spin-offs for Rovers regarding the establishment of a strong working relationship with Villa, who loaned highly-rated midfielder Jacob Ramsey to the club for a spell last term.
On Henshall's exit, Rovers chief executive Gavin Baldwin, speaking last week, said: "Adam has done an excellent job since joining us and moves to one of the biggest clubs in the country with our best wishes and our thanks.
"Whilst we are disappointed to lose Adam, we fully understand why he has made the decision he has made.
"As a club we have a strong history of recruiting both quality on and off the field and we will continue with that going forward.
"It is testament to Adam’s character that he is helping us to facilitate that process to ensure we get the right person while also ensuring we are in a good place and fully prepared for the summer transfer window."