On television, Udenio had the recurring role of "Giulietta" on the ABC soap opera One Life to Live from 1985 to 1986, and was regular cast member in the syndicated drama Amazon (1999–2000). She has guest starred and had recurring roles on dozens of television shows, including Babylon 5, Baywatch, Full House, NYPD Blue, Quantum Leap, Mortal Kombat: Conquest, Cheers, Mad About You, Wings, The Magnificent Seven, CSI: Miami, and Mistresses. She also had the recurring role on 90210 (2008–2011) of Atooza Shirazi. She appears in the recurring role of Elena Di Nola/Mutter in the series Jane the Virgin (2015–2016).
Udenio's film roles include playing the daughter of a World War II Resistance fighter (Barbara Bouchet) in The Scarlet and the Black, Italian foreign-exchange student Anna-Maria Mazarelli in Summer School (1987), the sunbather in the "Sunblock 5000" commercial within RoboCop 2 (1990), Dan Cain's only living girlfriend Francesca in Bride of Re-Animator (1990), as "Alotta Fagina" in Austin Powers: International Man of Mystery (1997), as "Don Na" in The Godson (1998), and Gabriella in Pauly Shore's film In The Army Now (1994).
Udenio was married to Robert MacLeod for four years. She filed for divorce on February 5, 2009, citing irreconcilable differences. They have a son named Adrian Raice.