She has also appeared on The Royal, Coronation Street, Emmerdale, Boon, Justice, Fort Boyard, The Bill and Dancin' Thru the Dark.
She has also sung a number of times on Heartbeat, her character Gina even won a talent contest in an episode in series 2, with her version of the Lulu hit "Shout".
Gina was an extremely popular character and her on/off relationship with Phil Bellamy (played by Mark Jordon) kept viewers hooked up until they got married in series 16.
She is also a supporter of the annual Heartbeat car rally which is held in Goathland every year and often attends to meet and greet fans of the show, usually with co-star David Lonsdale.
[3] Penrose appeared in the ITV programme Sing If You Can[4] in May 2011 in order to help raise money for the Teenage Cancer Trust charity.
In September 2014, she appeared on ITV programme Who's Doing the Dishes?, preparing a prawn cocktail starter, roast beef dinner and berry meringue, even with the Heartbeat clues the guests did not guess their celebrity chef.
Penrose's mother Sue was diagnosed with lung cancer in 2010 and, through her treatment, Penrose became involved with Roy Castle Lung Cancer Foundation, quickly becoming an Ambassador[8] and raising funds for the charity, including recording "You Had a Dream in Your Heart" written by Professor Ray Donnelly (who founded the organisation), to mark the organisation's 25th anniversary in 2015.