A 1.91 m (6 ft 3 in) tall guard, Peñarroya started his playing career in 1987 with Manresa of the Liga ACB.

Peñarroya led the team to a promotion to the LEB Oro and later to the Liga ACB.

In the 2018–19 season, Peñarroya coached Bàsquet Manresa, leading the team to the ACB playoffs for the first time since 1998.

[2] The next season, he led his team to a repeat of the Champions League while also capturing the 2021 FIBA Intercontinental Cup.

On June 14, 2024, Peñarroya signed a two-year contract with FC Barcelona of the Liga ACB and the EuroLeague.