[5] At the 2018 Pan American Taekwondo Championships held in Spokane, USA, he won the silver medal in the 87 kg category.

[6] At the 2019 World Taekwondo Championships held in Manchester, United Kingdom, Ícaro achieved a historic result by reaching the final and obtaining the silver medal.

[7][8] At the 2019 Pan American Games held in Lima, Peru, he reached the final, but was defeated by Miguel Angel Trejo (19-17) and took the silver medal in the under 80 kg category.

[10] At the 2021 Pan American Taekwondo Championships held in Cancún, Mexico, Ícaro won his first title in the -87 kg category.

[13] At the 2022 Pan American Taekwondo Championships held in Punta Cana, Dominican Republic, Ícaro won his second title in the tournament by obtaining the gold medal in the 87 kg category.