Penbrook is a borough in Dauphin County, Pennsylvania, United States, founded in 1861 and incorporated July 10, 1894. Penbrook was once named East Harrisburg and still maintains a Harrisburg postal ZIP code. The population was 3,008 at the 2010 census.

Penbrook is part of the Harrisburg–Carlisle Metropolitan Statistical Area.

Penbrook is located in southern Dauphin County at 40°16′42″N 76°50′51″W / 40.27833°N 76.84750°W / 40.27833; -76.84750 (40.278445, -76.847463). It is bordered to the south by the city of Harrisburg.

According to the United States Census Bureau, the borough has a total area of 0.45 square miles (1.16 km²), all of it land.

Penbrook Park is an 8.5-acre (3.4 ha) recreational area in the southeast corner of the borough and contains ball fields, a large wooden play structure, basketball courts, concession stand, and a picnic pavilion. It was also the home of the former Penbrook Swim Club. The park is connected to the Capital Area Greenbelt, a 20-mile (32 km) link to Riverfront Park and other regional parks.

Little Valley Park with 1.5 acres (0.61 ha) was given to the community in 1960 by S. Merl Mosby, who reclaimed a Depression-era landfill with more than 2,000 loads of dirt from nearby Edgemont. It contains a ball field, a play structure with a large purple dinosaur, baseball field and basketball courts and is located near East Harrisburg Cemetery and the St. Margaret Mary school.

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