The Perils of Penelope is a comical Sesame Street adventure story published in 1973, starring Bert as the embattled title character and Ernie as various brave heroes. The book is inspired by the legendary silent movie serial The Perils of Pauline.

Like Pauline, Bert's Penelope character gets into a series of perilous predicaments and must be rescued, much to Bert's dismay and Ernie's delight.

The story was subsequently serialized in the 1978 Sesame Street Library series.