Henson has been on unpaid leave since injury struck him down while playing for the Ospreys in April 2009.
Henson was quoted in a Sunday newspaper supplement saying he wanted to play at the 2011 World Cup in New Zealand.
But Jones doubts Henson will return, saying: "My head probably says no and my heart would love to see him back."
Henson's relationship with entertainer Charlotte Church has recently ended and Henson is quoted as saying the motivation of his children Ruby and Dexter seeing him play for Wales at the World Cup will spur his return to the sport.
But unconfirmed reports have linked him with a place on the BBC's popular show Strictly Come Dancing, which could prevent his return to rugby until late December.
Howver, Robert Jones also believes Wales coach Warren Gatland, Ospreys director Mike Cuddy and coaching boss Scott Johnson could help persuade the player to return.
"That's the big question mark, the fact that he's gone away from the game - he's enjoyed the last 12 months or so and he's probably in a position now where he's questioning whether he does want to or need to come back to play rugby.
"I'd love to say to him that he's going to be a long time out of the game and he would have missed this period of time and if he doesn't get back on the field I'm sure he'll regret it enormously in the future.
"So I'd love to think that he does get back there, but I do question whether the desire to play regional and international rugby is there or putting his body through the demands of professionalism and I think that's the big problem.
"If Warren Gatland and perhaps Mike Cuddy or Scott Johnson down at the Ospreys can convince him to get back and do that, well you've got a quality player that Wales would be desperate to select.
"But it's down to the individual. It's down to whether he wants it enough because desire and ambition play a big part."
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