A major obstacle to efficacious T cell-based cancer immunotherapy is the tolerizing tumor microenvironment that rapidly inactivates tumor-infiltrating lymphocytes. In an autochthonous model of prostate cancer, we have previously shown that intratumoral injection of antigen loaded dendritic cells (DCs) delays T cell tolerance induction as well as refunctionalizes already tolerized T cells in the tumor tissue. In this study, we have defined molecular interactions that mediate DCs’ effects. We show that pretreating antigen-loaded DCs with anti-CD70 antibody abolishes DCs’ ability to delay tumor-mediated T cell tolerance induction, whereas interfering with 4-1BBL, CD80, CD86 or both CD80 and CD86 had no significant effect. In contrast, CD80−/− or CD80−/−CD86−/− DCs failed to reactivate already-tolerized T cells in the tumor tissue, whereas interfering with CD70 and 4-1BBL had no effect. Furthermore, despite a high level of PD-1 expression by tumor infiltrating T cells and PD-L1 expression in the prostate, disrupting PD-1/PD-L1 interaction did not enhance T cell function in this model. These findings reveal dynamic requirements for costimulatory signals to overcome tumor induced tolerance and have significant implications for developing more effective cancer immunotherapies.