Penelo is a 16 year-old hume girl who is close friends with Vaan, she also loves to dance and sing and works at the Bazaar. Penelo lost her parents long ago in the war. Penelo was taught by her elder brother (she apparenly had several), a member of the order of knights, who might possibly be deceased as well. She has a close relationship with Vaan.
Penelo is a Hume orphan who works as a dancer in a Rabanastre bazaar. She learned martial arts from her now-deceased older brother, a soldier, and though small in stature, she is perfectly capable of handling herself in sticky situations. She has known Vaan since childhood, and seems to secretly have romantic feelings towards him. Her parents, having took him in to care for him after his own parents died, encouraged Penelo and sort of put the two together, as a result they care about each other a lot. It is unclear if this relationship will go any further, but the ending of the game does heavily imply a possible romance between the two in the future since they intend to travel together as sky pirates. It is apparent that she is the main dedicated magic user in the game, and she seems to be better at using Summon magic than any of the other characters. She prefers to use either a bow & arrow or a magical staff.
In Revenant Wings, Penelo returns in the sequel wearing the outfit that she wore during the Final Fantasy XII ending, and using a magical staff. She also appears in Itadaki Street Portable and in Final Fantasy Tactics A2 with a slightly modified outfit.