Jennings batted for more than six hours, faced 280 deliveries and hit nine fours for a second Test century since his first on debut two years ago.
Foakes batted for more than four hours, faced 184 deliveries, and hit only six boundaries.
The former Sri Lanka skipper is retiring from all forms of cricket in Galle after this first test of three.
The player was taken off the ground on a stretcher into a hospital for scans.
Denly undermined Sri Lanka's chase of 188 by bowling openers Kusal Mendis and Niroshan Dickwella in his first two overs.
England won the five-match series 3-1, with the first match ending without a result due to rain.
Sri Lanka Cricket said in a statement Monday that Herath announced his decision at a meeting with cricket board officials.
Live Streaming Crickey Sri Lanka vs England 4th ODI: Watch SL vs ENG Cricket Match Online at Sony Six and Live Coverage on Sony Six Liv TV and Get Here Cricket Score Live Updates at India TV Sports
With rain playing major spoilsport in the clash at Pallekele, England restricted Sri Lanka for 150/9 as Rashid shined with his 4/36 and the batsmen finished the job in 18.3 overs.
England tour of Sri Lanka, 2018, Play at the 3rd ODI at Pallekele International Cricket Stadium, Pallekele, Catch all the SL vs ENG
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