The star passed away on Monday (09Aug10) in Newtown, Pennsylvania.
DiCenzo established himself as a character actor and appeared in over 30 movies, including Close Encounters of the Third Kind, Back to the Future, and The Exorcist III.
He starred as Vincent Bugliosi, the prosecutor in the trial of serial murderer Charles Manson, in the 1976 TV film Helter Skelter.
He became a Broadway star in the early 1990s when he appeared opposite Nathan Lane in the play On Borrowed Time, while he also became known for his TV roles in Murder, She Wrote and NYPD Blue.
DiCenzo also carved out a career as a voice actor and his vocals were used in commercials and cartoon series, such as She-Ra: Princess of Power, in which he played villain Hordak, reports Daily Variety.
He is survived by his wife Donna, a son, three grandchildren and a sister.