Late tries from CJ Stander and Mike Sherry put the gloss on the 30-3 win which leaves Munster in sixth place but just two points behind the Ospreys and one behind fifth-placed Scarlets.
And with a host of internationals absent Penney was particularly pleased with young centre partnership JJ Hanrahan and Ivan Dineen, ahead of Saturday's trip to the Scarlets.
"JJ (Hanrahan) played very well with Ivan (Dineen) in their centre partnership and they mixed it up very well with their passing and kicking," Penney told the Irish Independent.
"We are really pleased with what we achieved - the guys played a good brand and expressed themselves. That's what we asked them to do; we didn't want them to be inhibited by the burden, having not played a lot, but great credit to them.
"The way they played in the second half was commanding. I don't think they had the ball in the first 20 minutes of the second half. We just dominated possession and territory and just sucked the life out of the Edinburgh boys."
Guinness PRO12 Munster News
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