The Packers receive roster exemptions for the two players earlier in the week after they finished serving their four-game suspensions.
Pennel, 25, is in the second year of his three-year, $1.53 million rookie contract that included a $3,500 signing bonus. He’ll make a base salary of $600,000 for the 2016 season.
In 2015, Pennel appeared in 16 games for the Packers and recorded 24 tackles, one sack, and a forced fumble.
Goodson, 27, is a former sixth-round pick of the Packers back in 2014. He’s in the third year of his four-year, $2,323,152 million contract and stands to make a base salary of $600,000 for the 2016 season.
In 2015, Goodson was active for 14 games for the Packers and recorded 10 tackles, no interceptions and a pass defense.