We report measurements of single-particle inclusive spectra and two-particle azimuthal distributions of charged hadrons at high transverse momentum (high $p_T$) in minimum bias and central d+Au collisions at $sqrt{s_{NN}}$=200 GeV. The inclusive yield is enhanced in d+Au collisions relative to binary-scaled p+p collisions, while the two-particle azimuthal distributions are very similar to those observed in p+p collisions. These results demonstrate that the strong suppression of the inclusive yield and back-to-back correlations at high $p_T$ previously observed in central Au+Au collisions are due to final-state interactions with the dense medium generated in such collisions.