Pěnička (feminine Pěničková) is a Czech surname. Notable people with the surname include:
Annika Penickova (born 2009), American tennis player Blanka Pěničková (born 1980), Czech footballer Martin Pěnička (1969–2023), Czech footballer, brother of Pavel Kristina Penickova (born 2009), American tennis player Pavel Pěnička (born 1967), Czech footballer, brother of Martin