Her exact birth and death dates are not known.
[1] She was trained by her father along with her older three brothers Francis, John, and Charles, and two sisters Sarah and Magdalen, who took up their father's profession and became draughtsmen and miniature painters as well.
Attributions of works have sometimes been difficult because of the similarities in style between Francis and his children.
Penelope has been ascribed two miniatures of William Cecil, 2nd Earl of Exeter (1677), and Dorothea, daughter of Richard Cromwell (1668), signed P.C.
London: Smith, Elder & Co. pp.