From her father she learned drawing, also taking lessons from Augustin Pajou.
Many of her sculptures were produced to government commissions, including four of the 425 bas-reliefs on the column of the place Vendôme.
In 1801 Charpentier offered her services as a taxidermist to the National Museum of Natural History, and for twenty-five years thereafter mounted a range of animals for the institution.
In 1826 she was granted a salaried post, but this was not enough to keep her from penury, and she died in poverty in the Salpêtrière.
[1] Several sculptures by Charpentier are in the collection of the Château de Blois, including a possible self-portrait.