Penry-Jones married actress Dervla Kirwan and made her his wife in August 2007 a, following a three-year engagement. They met in a theatre production, Dangerous Corner, in 2001. They have two children, Peter and Florence. His net worth is not estimated.
He is known for his role as Adam Carter in the Chandle BBC One spy drama series Spooks, as Clive Reader QC in BBC One legal drama Silk and policeman DI Josephr in the ITV murder mystery series Whitechapel. Penry-Jones is known to be very critical of the British tv show and film industry. He stated that Doctor Who is a "very good children's show... but has low production values...and is a pantomime". He also said the Harry Potter films are "shit". He admitted walking out of the first three films.