Nine ships of the British Royal Navy have been named HMS Penelope, after the faithful wife Penelope of Greek mythology.

• The first HMS Penelope (1778) was a 24-gun sixth rate launched in 1778 and captured by her Spanish prisoners in 1780.
• The second HMS Penelope (1783) was a 32-gun fifth rate launched in 1783 and broken up 1797.
• The third HMS Penelope (1798) was a 36-gun fifth rate launched in 1798 and wrecked in 1815.
• The fourth HMS Penelope (1829) was a 46-gun fifth rate launched in 1829 but completed in 1843 as a paddle frigate, and sold for breakup in 1864.
• The fifth HMS Penelope (1867) was an armoured corvette launched in 1867 that became a prison hulk in 1897 and was sold in 1912.
• The sixth HMS Penelope (1914) was an Arethusa-class light cruiser launched in 1914 and sold in 1924.
• The seventh HMS Penelope (1918) was a tender purchased in 1918 and sold in 1922.
• The eighth HMS Penelope (97) was an Arethusa-class light cruiser launched in 1935 and sunk off Naples in 1944.
• The ninth HMS Penelope (F127) was a Leander-class frigate launched in 1962 and sold to Ecuador in 1991, which operated her as Presidente Eloy Alfaro.