It has occasionally been used as an English given name since the 16th century. It was moderately popular in the 1940s, but had a more notable upswing in the early 2000s. This may have been inspired by the Spanish actress Penélope Cruz (1974-), who gained prominence in English-language movies at that time. It was already rapidly rising when celebrities Kourtney Kardashian and Scott Disick gave it to their baby daughter in 2012.
This name also appears in the New Testament, belonging to man who sheltered Paul and Silas. In his case, it may represent a Hellenized form of a Hebrew name. It was not used in England until after the Protestant Reformation.
In the Middle Ages this name was common in England due to the popularity of medieval tales about the Trojan War. It subsequently became rare, but was revived in the 20th century.