Hennig joined Naughty Dog, a move that would define a significant portion of her career. She became the creative director and lead writer for their new project.

Hennig spearheaded the creation of Uncharted: Drake's Fortune, a PlayStation 3 exclusive that introduced the world to Nathan Drake. Her influence in shaping the characters and the overall tone was very important.

Hennig directed and wrote Uncharted 2: Among Thieves, which is widely considered one of the best video games of all time. It won many Game of the Year awards and solidified the Uncharted franchise's place in video game history.

Hennig led the development of Uncharted 3: Drake's Deception, which further expanded the Uncharted universe and pushed the boundaries of storytelling and technical achievement. The game was a commercial success, although it was sometimes criticised for its story.

Hennig left Naughty Dog, reportedly due to creative differences. This marked the end of her long-standing role in the Uncharted franchise.