Angelelli began racing in the Italian Formula Alfa Boxer series in 1987 and spent fifteen years building his career through a range of European formulae. His standout early achievement came in 1992 when he claimed the Italian Formula Three title. He subsequently competed in German Formula Three from 1993 to 1995, contested the Macau Grand Prix Formula 3 race in 1996, and raced in the FIA GT Championship from 1997 to 1998. He also made select appearances in the All Japan Grand Touring Car Championship in 1998 before crossing to American competition.
From 1999 to 2002, Angelelli competed in the American Le Mans Series, which gave him his introduction to the North American endurance scene. He earned a podium at the 2001 Six Hours at the Glen during this period, signaling his competitiveness in prototype machinery on United States soil.
Angelelli's most celebrated chapter came as a co-founder and lead driver of Wayne Taylor Racing in the Grand-Am Rolex Sports Car Series Daytona Prototype class. Paired with team owner Wayne Taylor in 2005, he won both the 24 Hours of Daytona and the Grand-Am Daytona Prototype championship that year. He would go on to finish as championship runner-up in 2010 and 2011 before capturing a second title in 2013.
The 2013 championship came with a new co-driver: Jordan Taylor, younger son of Wayne Taylor, who stepped in after his brother Ricky departed for another opportunity. Angelelli and Jordan Taylor made a formidable pairing, narrowly defeating Scott Pruett and Memo Rojas — a duo that had won four of the previous five titles — to claim the final Grand-Am championship before the series merged into the United SportsCar Championship.
Angelelli was nicknamed "the Axe" by broadcaster Leigh Diffey, a reference to his ability to close down large gaps to the race leader with precision and then execute a clean pass for the win.
In 2006, Angelelli was selected to compete in the International Race of Champions series alongside teammate Wayne Taylor. The pair became the first tandem from the same team in IROC history to both participate in the same year.
Angelelli announced before the 2017 season that he would race one final time at the 24 Hours of Daytona, joining Wayne Taylor Racing alongside the Taylor brothers — Ricky and Jordan — and four-time NASCAR Cup champion Jeff Gordon. The quartet delivered a winning conclusion, giving Angelelli a second Daytona victory to bookend his career. He retired from racing following that result.
Angelelli holds a notable place in Formula One history as the safety car driver at the 1994 San Marino Grand Prix at Imola. Ayrton Senna followed Angelelli's safety car for five laps before the fatal accident on lap seven that claimed the three-time world champion's life.
After leaving Wayne Taylor Racing in 2020, Angelelli moved into a technical and development role with the Italian manufacturer Dallara, working on sports prototype projects.
Angelelli's career spanned more than three decades and two continents. His two Daytona victories — separated by twelve years — placed him among a select group of drivers to win the race multiple times. His role in co-founding Wayne Taylor Racing helped establish one of the most successful American sports car teams of the Grand-Am era, a team that continued winning long after his own retirement.
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