The Frenchman made the score 2-1 with his cheeky effort, which surprised goalkeeper Petr Cech, and Chelsea manager Jose Mourinho has criticised the official.
Chelsea's Portuguese coach said Poll wrongly implemented the laws of the game by telling Henry he could take it quickly.
The Arsenal striker caught the Chelsea defence napping by clipping the ball home before referee Poll had retreated and with Chelsea still assembling their wall.
However, Poll believes his own actions were correct and a fuss has been made over nothing.
"Controversy? What controversy as far as I am concerned," Poll told the BBC. "It is standard practice that referees do at free kicks.
"Don't forget the team who have been fouled have had an advantage taken away and that needs to be given back. Cech was unprepared, which I would say was probably a mistake on his part."
Poll also reminded Chelsea that they did not complain when he let former striker Jimmy Floyd Hasselbaink score with a quick free kick in an FA Cup tie with West Ham United two years ago.
Sunday's 2-2 draw meant Chelsea stayed five points ahead of third-placed Arsenal and moved four above second-placed Everton.
