Hendricks, who made his international debut last year, is the only new entrant on the list.
Meanwhile, Anrich Nortje, Rassie van der Dussen and Dwaine Pretorius have also been given contracts.
Dale Steyn, who remains available in the limited overs format, has been dropped.
Here is more.
"We have contracted 16 men's players and 14 women's players which we feel is the appropriate number to maintain our national squads across formats. This enables us to contract our Test players and limited overs specialists," CSA Acting Chief Executive Dr. Jacques Faul said.
Former Proteas skipper Faf fu Plessis has been re-contracted for the upcoming season.
The 35-year-old stepped down as captain last month, stating that he will remain available to play.
He was a part of South African squad that travelled to India for ODI series.
With Quinton de Kock leading the limited overs side, South Africa are yet to name a Test captain.
Nationally contracted men's players: Temba Bavuma, Quinton de Kock, Faf du Plessis, Dean Elgar, Beuran Hendricks, Reeza Hendricks, Keshav Maharaj, Aiden Markram, David Miller, Lungi Ngidi, Anrich Nortje, Andile Phehlukwayo, Dwaine Pretorius, Kagiso Rabada, Tabraiz Shamsi, Rassie van der Dussen
The contracts of Nadine de Klerk and Sinalo Jafta have been retained on the list of women's contracted players.
The former was part of South Africa's squad at the T20 World Cup.
Women's contracts will cover the ICC Women's World Cup 2021 to be played in New Zealand besides the West Indies and England tours.
The postponed Australian series will also be covered.
CSA contracted women's players: Trisha Chetty, Nadine de Klerk, Mignon du Preez, Shabnim Ismail, Sinalo Jafta, Marizanne Kapp, Ayabonga Khaka, Masabata Klaas, Lizelle Lee, Sune Luus, Tumi Sekhukhune, Chloe Tryon, Dane van Niekerk, Laura Wolvaardt.
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