Rhett Bonner added 17 points for the Quakers (6-2), who overcame a 10-point first-half deficit to enter the break on a winning note.
Freshman Devon Lesniak (Westminster, Md./Winters Mill) led the Green Terror (4-3) with a career-high 18 points. Kevin Henry (Potomac, Md./Bullis School) added 13 points while Josh McKay (Baltimore, Md./Eastern Tech) recorded a double-double with 11 points and 15 rebounds.
Trailing 31-21 on two Lesniak free throws with 3:52 remaining in the first half, Hensen hit four straight free throws to pull the visitors with six.
A Lesniak 3-pointer stretched the lead back to 34-25 before Hensen answered with a pair of triples in the final 1:39 of the half closed the deficit to three at the intermission.
A Bonner trey just 17 seconds into the second half knotted the game for the first time since 2-all.
Lesniak responded with the third of his four 3-pointers and a tip-in to give McDaniel a five-point advantage.
Five straight Tyler Sanborn points and another Henson 3-pointer accounted for an 8-0 that gave Guilford the lead for good with 16:54 to play.
Clinging to a 44-43 lead two minutes later, eight Quaker free throws helped the visitors extend the lead to 52-45 with 11:03 on the clock.
A Henry 3-pointer closed the deficit to as close as 57-55 with 5:59 on the clock but a pair of Bonner jumpers and a 4-for-4 showing from Martin Stephenson in the final 39 seconds perserved the victory for Guilford.
Knotted at 2-all early, a Miguel Jones (Baltimore, Md./North County) steal-and-layup followed by a McKay 3-pointer keyed an 8-2 run to give McDaniel a 10-4 advantage with 16:38 remaining in the first half.
Clinging to a 24-21 lead with 5:26 on the clock, McKay hit a pair of free throws and Lesniak poured in five points to push the lead to 10.
Henry added six rebounds, four assists and three blocked shots.
The Green Terror returns to action at York (Pa.) on Jan. 3. Game time is 6 p.m.