Catalyzes the aminoacylation of histidyl-tRNA. ATP + L-histidine + tRNA(His) = AMP + diphosphate + H(+) + L-histidyl-tRNA(His) Danio rerio genome encodes a single hars gene which undergoes alternative splicing to produce both a cytoplasmic and mitochondrial enzyme, while humans have two separate genes. Belongs to the class-II aminoacyl-tRNA synthetase family.