Hendricks made his Test debut against England in the previous home summer.
Hendricks, the left-arm seamer, who made his Test debut last summer versus England, has been included in the squad after clearing COVID-19 protocols designed for the safe conduct of the series. The 30-year-old has also played 7 ODIs and 14 T20Is for South Africa.
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Pretorius has been released from the side due to a muscle injury to his right shoulder. The uncapped 25-year-old has played 35 first-class games with 124 wickets at an average of 22.76 and 870 runs at 24.85.
"Migael Pretorius has been released from the Bio-Secure Environment (BSE) due to a muscle injury to his right shoulder. He will go back to his franchise for rehabilitation," Cricket South Africa (CSA) said in a media release.
"Beuran Hendricks has been reinstated to the Proteas Test squad following the completion of thorough and successful COVID-19 and pre-BSE entry protocols. He joined the team yesterday evening."
South Africa are holding 1-0 lead in the series after a victory by an innings & 45 runs in Centurion.
(With ANI inputs)