His first full pro season was 1984-85 when he scored just 1 goal and 8 assists in 67 games for the Penguins. After that season he only played in 19 more games for the Pens and was signed as a free agent by the Edmonton Oilers in 1989. Less than a year later, never having played for the Oilers, Charlesworth was traded to the New York Rangers and played in seven games for them.
He missed the entire 1991-92 season due to thumb surgery. Charlesworth finished his career with the Muskegon Fury from 1992 to 1995, retiring in 1995.
In the NHL, Charlesworth played in 93 games and scored 3 goals and 9 assists.