Pennel, 28, wound up signing on with the Packers as an undrafted free agent out of Colorado State-Pueblo back in 2014. He was waived towards the end of 2016 and was later claimed off of waivers by the Jets.
The Jets re-signed Pennel to a three-year contract worth up to $12 million in 2018 but New York declined his team-option after one season. He signed on with the Patriots back in March but was cut loose in late August.
Pennel worked out for the Colts, Lions, Packers, and Cardinals before signing with Kansas City in October. The Chiefs brought him back one a one-year deal this past March.
In 2019, Pennel appeared in eight games for the Chiefs and recorded 24 total tackles, two tackles for loss, and one sack.