From 1950-53, Hennessy scored 1,737 points at Villanova, which retired his No. 14 jersey. He ranks 11th in school history in scoring, averaging 23.2 points in 75 games the school.
After graduating, Hennessy went on to play two seasons in the NBA and was part of the Philadelphia Warriors 1955-56 championship team.
He later went on to coach high school and community college basketball.
"All of us in the Villanova basketball family were saddened to learn of Coach Hennessy's passing," Villanova coach Jay Wright said in a statement. "He was one of the great Wildcat All-Americans and helped build the basketball tradition that is so much a part of our program."
A memorial service was scheduled at Bucktrout Funeral Home in Williamsburg for Wednesday, followed by a funeral at St. Bede's Catholic Church at 9 a.m. Thursday.