Penelope is a given name with origins tracing back to ancient Greece. It is derived from the Greek words "pene" meaning "thread" and "lops" meaning "with woven lips". The name is thought to refer to a skilled weaver or woman with skills in weaving and spinning.

The name Penelope has been in use since antiquity, appearing in Greek mythology and ancient texts. Homer's epic poems, the Iliad and the Odyssey, feature a character named Penelope, the wife of Odysseus. She is portrayed as a faithful and clever woman who waits for her husband's return from the Trojan War for over twenty years, fending off suitors.

One of the earliest known individuals with the name Penelope was Penelope of Sparta, a Spartan princess who lived in the 4th century BC. She was the daughter of the Spartan king Leonidas I and married Pausanias, the regent of Sparta.

In the 1st century AD, Penelope of Byzantium was a Christian martyr known for her courage and faith. She was executed during the reign of Emperor Diocletian for refusing to renounce her Christian beliefs.

During the Renaissance period, Penelope Devereux, Countess of Devonshire (1563-1607), was a prominent figure in the court of Queen Elizabeth I. She was known for her beauty, intelligence, and literary talents.

In the 18th century, Penelope Aubin (1679-1738) was an English novelist and pioneer of the early English novel. She wrote several popular works, including "The Strange Adventures of the Count de Vinevil and his Family" and "The Life of Madam de Beaumont, a French Lady".

Another notable figure was Penelope Lively (born 1933), a British novelist, and children's writer. She won the Booker Prize in 1987 for her novel "Moon Tiger" and has been awarded several other literary honors throughout her career.