The Raiders placed Penn on injured reserve back in October with a groin injury before designating him to return a few weeks ago.
Penn, 35, originally signed on with the Vikings as an undrafted free agent out of Utah State back in 2006. After a few months in Minnesota, Penn signed on with the Buccaneers during his rookie season and spent eight years in Tampa Bay before he was released back in 2014.
The Raiders signed Penn to a contract soon after before signing him to a $21M extension last year.
In 2018, Penn appeared in four games for the Raiders.