The 22-year-old made his debut on Sept. 6 against Chicago White Sox as part of a rookie trio that also included center fielder Joe Benson and first baseman Chris Parmelee in a 3-0 loss at U.S. Cellular Field.
Hendriks allowed three runs on four hits in seven innings against the White Sox, walking three batters and striking out four in the first of a handful of late-season starts while veterans Francisco Liriano, Scott Baker and Brian Duensing recover from injuries.
He began in the Twins' minor-league system in 2009 and rose through Single-A ball in 2009-10 before going 12-6 with a 3.36 earned run average in 25 Double- A and Triple-A appearances this season at New Britain and Rochester.
In Tuesday's opener, Kansas City's Bruce Chen was brilliant while throwing eight shutout innings and propelling the Royals to a 4-0 win.
Chen (11-7) gave up only two hits while fanning eight and walking one. Louis Coleman came on in the ninth to close out the win for the Royals.
Carl Pavano (8-12) was tagged with the loss after giving up four runs -- three earned -- on 11 hits while striking out five and walking one.
Kansas City starts former first-round pick and University of Tennessee product Luke Hochevar, who's won two of three starts and of his last eight decisions since late July.
The No. 1 overall selection in 2006 defeated Detroit and Cleveland on Aug. 29 and Sept. 3 while allowing a combined 11 hits and five earned runs in 15 innings.
He dropped a 4-1 verdict in his most recent start on Sept. 8 in Seattle, dropping the Royals to 5-5 in his last 10 outings.
Hochevar is 3-3 in 11 career meetings with Minnesota and is 7-5 in 17 home starts in 2011.
Minnesota is 8-6 against the Royals this season.