"vessel used for burning incense before an altar," mid-13c., from Old French censier, a shortened form of encensier, from encens "incense" (see incense (n.)).
Entries linking to censer
incense n.
late 13c., "gum or other substance producing a sweet smell when burned," from Old French encens (12c.), from Late Latin incensum "burnt incense," literally "that which is burnt," noun use of neuter past participle of Latin incendere "set on fire" (see incendiary). Meaning "smoke or perfume of incense" is from late 14c.