Centurion known in Japan as Icarus (イカロス), are rank-and-file soldiers of Palutena and Angel Land.
In the original Kid Icarus for the Nintendo Entertainment System, the Centurions played a large role in boss fortresses. On those particular levels, Pit could find hammers and use them to break open statues scattered around the area, freeing the Centurion trapped inside. When Pit eventually reaches the boss chamber, any Centurions that he rescued will fly in and attack the enemy. However, this only effectively damaged Twinbellows; Hewdraw was too hard to hit and Pandora beat them with ease. The Centurions in Kid Icarus would perish after being hit a single time, though they could attack repeatedly in the original game. They did not return for the sequel; Centurion statues are present, but they only hold items now.
Centurion appears as a Spirit.