I don't know what Access is complaining about but here's some hints to clean up your code.

• You don't need a 'use' statement for the DBD backend you will be using. DBI takes care of loading a driver based on the connect string you provide.
• Prepare your statements outside the loop, execute them inside. Once prepared, a statement can be reused an unlimited number of times.
• You can take the list returned by split and pass it directly to $sth->execute(). You don't have to use all of those nasty looking scalars (BTW, ++ for using placeholders).
• You should add 'use strict' to the top of your script and declare your variables. This will help you catch a lot of errors at compile time.

# !/usr/bin/perl -w

use strict;
use DBI qw(:sql_types);

my $dsn = "dbi:ODBC:Daily_Rec";
my $dbh = DBI->connect($dsn,'','', 
            {RaiseError=>1,PrintError=>1,AutoCommit=>1} );

open(DAT, "c:/Temp/heldreceipts_TempFile.txt")
    or die "could not open Held Receipts file: $!";
my $query = qq{insert into Held_Receipts values (?,?,?,?,?,?,?,?)};
my $sth = $dbh->prepare($query)
    or die "cannot prepare query: $DBI::errstr";

while(<DAT>)
{
    chomp;
    my @line = split /\|/;
    $sth->execute(@line) 
    or die "Execute error: $DBI::errstr";
}

$sth->finish();
$dbh->disconnect();
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Update: I think TVSET's advice is good. If you can, attempt to run the statement through some other interface and see if it complains, too.