The Manchester United forward replaces Raheem Sterling in the starting XI following the 4-0 win in Malta on Friday night and will play on the left of Alex Oxlade-Chamberlain and Dele Alli as support for Harry Kane up front.
The back four of Kyle Walker, Gary Cahill, Phil Jones and Ryan Bertrand continues unchanged, while Joe Hart earns his 73rd cap between the sticks to equal Gordon Banks's third-place standing on England's goalkeeping caps list.
For Slovakia, manager Jan Kozak makes two changes from the side that claimed a 1-0 victory over Slovenia on Friday night.
Adam Nemec continues to lead the line following his late winner for his country, while Marek Hamsik earns his 99th cap and plays alongside Vladimir Weiss and Robert Mak as attacking support in a 4-2-3-1 formation.
Milan Skriniar moves further upfield to join Stanislav Lobotka in defensive mid, while Martin Skrtel and Jan Durica return from suspension at the heart of the defence, with Norbert Gyomber and Juraj Kucka the men to make way.
England: Hart; Walker, Cahill, Jones, Bertrand; Dier, Henderson; Oxlade-Chamberlain, Alli, Rashford; Kane
Subs: Smalling, Butland, Cresswell, Keane, Stones, Chalobah, Livermore, Sturridge, Welbeck, Vardy, Sterling, Heaton
Slovakia: Dubravka; Pekarik, Skrtel, Durica, Hubocan; Lobotka, Skriniar; Weiss, Hamsik, Mak; Nemec
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