City were behind inside five minutes on Filbert Way, as Mathias Jorgensen stabbed home a long throw from six yards out.
A chipped free-kick from Maddison then set up Vardy, who fired his volley wide of the mark after an intelligent move midway through the first half.
Before the break, Laurent Depoitre sent a header off target, while Harry Maguire headed straight at Jonas Lossl after another neat set-play.
On 58 minutes, Iheanacho came just inches away from netting his second of the game, as he side-footed Ben Chilwell’s cutback the wrong side of Lossl’s post.
But City didn’t have to wait much longer to take the lead. Nampalys Mendy was fouled on the edge of the box and Maddison stepped up to curl a brilliant free-kick over the Huddersfield wall and into the back of the net.
Substitute Demarai Gray went close twice shortly after, first hammering a powerful drive over the bar before Lossl produced a good stop four minutes later.
However, it was Vardy who would seal the win for the Foxes with 15 minutes to play. Iheanacho played a well-weighted pass into the path of the Leicester No.9, who lifted the ball over the onrushing Lossl for 3-1.
Finally, Shinji Okazaki, who replaced Maddison on 85 minutes, forced Lossl into a smart stop in injury time.
With the score level at 1-1, Leicester City needed something special to break down a Huddersfield defence that had earned plenty of plaudits for its solidity in recent weeks.
Set-play specialist James Maddison delivered the goods, as his third Premier League goal of the season put City into a deserved 2-1 lead.
Kelechi Iheanacho points to the sky after netting his second goal of the season.
Returning to the starting XI for the first time since City’s 2-1 win over Southampton last month, Kelechi Iheanacho put in a fine display against David Wagner’s outfit.
After netting his side’s leveller in the first period, Iheanacho set up Jamie Vardy on 75 minutes for 3-1 – the Nigerian’s second assist of the Premier League season.
Where do we stand?
James Maddison is mobbed by his team-mates after scoring an excellent free-kick.
After returning to winning ways, Claude Puel’s outfit now sit eighth in the Premier League table having accumulated nine points from six fixtures.
Jamie Vardy celebrates with Demarai Gray and James Maddison after rounding off the scoring on Filbert Way.
Wolverhampton Wanderers, who drew 1-1 with Manchester United at Old Trafford on Saturday, are City’s next opponents. The Foxes head to Molineux Stadium on Tuesday 25 September in the third round of the Carabao Cup.
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