You can block specific ICMP response types instead of all ICMP. To allow DNS to work, you'll want to allow:
access-list 100 extended permit icmp any any echo-reply
access-list 100 extended permit icmp any any source-quench
access-list 100 extended permit icmp any any unreachable
access-list 100 extended permit icmp any any time-exceeded
And block any other ICMP.