Truth discovery is an efficient technique for tackling data conflict problems in crowd sensing for distributed data collection. As the sensory data to be collected may include sensitive information about users, privacy-preserving truth discovery has attracted significant attention in recent years. Most existing studies apply a centralized architecture based on a cryptographic system, which may be vulnerable to single-point attacks and also has a very high computational cost. In this paper, we propose DPriTD, a decentralized privacy-preserving framework for truth discovery in crowd sensing. The proposed approach leverages the additively homomorphic property of Shamir's Secret Sharing scheme to protect user's privacy. DPriTD provides a strict privacy guarantee for crowd sensing applications. Because each sensitive data point, considered to be a secret, is split into a batch of shares, and the secret cannot be recovered unless a sufficient number of shares are aggregated, DPriTD achieves effective truth discovery while protecting sensitive data from collusion attacks. Furthermore, DPriTD is independent of a centralized server and can perform reliably when not all participants are online in real time. It thus enhances the robustness of a crowd sensing system. Extensive experiments conducted on real-world datasets demonstrate the high performance of our method compared with existing mechanisms.