Penelope's Perils is the story of a young girl who lives in medieval England. Her father, who is a knight of the King's order, raises her after her mother passes away on the night of her birth. She follows her father to London and back. While on the way she finds herself involved in many adventures. Her companions are the squires of the many knights at the tournament, the triplets from her father's hamlet and a prince to be who ends up to be her hero and later her husband. Follow them as they save the King, slay a dragon, save others from harm and many other perilous adventures on the highways and in the villages of England during the medieval age.