Kennedy (8-8) limited the Rockies to two runs on five hits, didn't issue a walk and struck out seven in winning his second straight start.
Goldschmidt added a solo homer and J.J. Putz collected his 18th save for the Diamondbacks, who claimed their fourth straight win.
Colorado's Jonathan Sanchez (0-1) yielded five runs on six hits over four innings in his first start since being acquired Friday in a trade from Kansas City.
Rookie Josh Rutledge socked his first major league homer and Carlos Gonzalez added a solo shot for the Rockies, who dropped the opener of a three-game series.
2014: The Year in Music [PHOTOS]