Penistone is a small town in the borough of Barnsley, in South Yorkshire, England.

The town was of little importance until the coming of the railway, although the mediaeval parish church survives, and a grammar school was founded in 1392. The White Hart pub in the town dates from 1377. Penistone has had a market since 1699, although its livestock market has recently closed.

Although the town still has a railway station, the main line through the town to Manchester is presently only used by the Trans-Pennine Trail. There are plans to reopen this route to trains.