Jennings, 26, who averages 25.86 in 16 Tests, was out for 17 and 14 as England lost the first Test by 381 runs.

Denly, 32, who bats at three for Kent, will open with Rory Burns.

Left-arm spinner Jack Leach replaces Adil Rashid, who will return home during the second Test because his wife is expecting their second child.

The leg-spinner will return to the tour before the one-day internationals.

"It's disappointing for Keaton," said captain Joe Root.

"[Jennings] has done some very good things and he'll continue to keep developing. He's very much a part of the squad moving forward but it's a great opportunity for Joe."

Denly made his first international appearance since August 2009 in a Twenty20 win over Sri Lanka in October, taking the man-of-the-match award, predominantly for his four-wicket haul.

The second match in the three-Test series, at the Sir Vivian Richards Stadium, begins on Thursday at 14:00 GMT.

England 12-man squad for second Test: Rory Burns, Joe Denly, Jonny Bairstow, Joe Root (c), Jos Buttler, Ben Stokes, Moeen Ali, Ben Foakes, Sam Curran, Stuart Broad, Jimmy Anderson, Jack Leach.