(written from a Production point of view)
Among his early acting credits are guest parts in episodes of Diff'rent Strokes (1981), The Jeffersons (1982), and The Facts of Life (1982) as well as the television movie The Ladies (1987, with Jeanne Mori and Barbara Harris) and the thriller Lady Beware (1987).
Further guest parts include the television series American Playhouse (1988), Paradise (1989, with Warren Munson), It's Garry Shandling's Show. (1990, with Paul Willson), Cheers (1990, with Kirstie Alley, Kelsey Grammer, Bebe Neuwirth, and Paul Willson), Murder, She Wrote (1989 and 1991, with Jean Simmons, William Windom, David Spielberg, and Mark Phelan), Seinfeld (1991, with Jason Alexander), Matlock (1992, with Morgan Woodward and David Selburg), and Tales from the Crypt (1992, with Henry Gibson and John Kassir). He also appeared in the television comedy Dinner at Eight (1989, with Kelly Connell, John Fleck, Joel Brooks, and Lenore Kasdorf), the television drama People Like Us (1990, with Gary Frank, Jean Simmons, Tom Schanley, Susan French, Brenda Strong, Michael Cavanaugh, Jonathan Farwell, George D. Wallace, Thomas Kopache, Richard Riehle, and Ron Taylor), the television drama Eyes of a Witness (1991, with Reg E. Cathey), and the television drama An Inconvenient Woman (1991, with Christian Conrad, Renata Scott, Eddy Donno, and Robert MacKenzie).
Following his guest part on Star Trek, Penn was featured in the television movie Roswell (1994, with Bob Gunton, Eugene Roche, Doug Wert, Matthew Faison, John Hostetter, Michael Bofshever, David Selburg, Gary Bullock, Don Fischer, John Mahon, Warren Munson, Richard Fancy, Lawrence Dobkin, Parley Baer, Bruce Gray, Brian Cousins, and James G. MacDonald) and in the television fantasy drama Dad, the Angel & Me (1995, with Jane Carr, Paul Collins, and Megan Parlen) and had guest roles in The Nanny (1994, with Daniel Davis) and Frasier (1995, with Kelsey Grammer, William Morgan Sheppard, and Jim Norton).