Darby has been diagnosed with Motor Neurone Disease, or ALS, which famously affected Stephen Hawking and baseball player Lou Gehrig.
Darby annouced his retirement on Tuesday, and Benitez - who managed him at Liverpool - sent him a message of support.
"I was proud to give Stephen Darby his Liverpool debut and now I am deeply saddened to learn of his retirement. Stephen is a special person and he has my total support. He will never walk alone," the now Newcastle manager wrote on Twitter.
Darby captained Liverpool's FA Youth Cup-winning side in 2006, when they beat Manchester City in the final. He went on to spend five years at Bradford before moving to Bolton.
Motor Neurone Disease is a degenerative condition that affects the brain and nervous system. There is no known cure.