 Penrose's first TV role was as WPC Emma Reid in "Brookside".In 1987 she appeared in the ‘A Ride on the Wild Side’ episode of "Boon" as Lindy Yates (1 episode, 1987), before a cast role in 1988's “Vroom.” Penrose appeared in a 1990 episode of "Medics" as the character Jean and in the same year had a part in “Dancin' Thru the Dark”

Penrose appeared in "Emmerdale Farm" (now “Emmerdale”) in 1991 as Louise and then in 2 episodes of "Coronation Street" in 1991/92.Penrose's appearance as Carol the Barmaid in 1993's “Terraces” was followed by her longest running role as Gina Ward in "Heartbeat" where she appeared in over 300 episodes between 1993 and the series final episode in 2010, making her the longest serving female cast member.