The older daughter of Julian Dann, an architect, and his wife, Jill, Penny was born in Slough, Berkshire, and was educated at Burnham grammar school, Buckinghamshire, and Brighton College of Art. After graduating, she remained in Brighton, where she played an active part in the monthly meetings of the Brighton Illustrators Group. Between the early 1990s and the early 2000s, she lived in Australia, in Sydney then Melbourne, but continued to work for London-based publishers.
After returning to the UK, through the Brighton Illustrators Group she met Tom Sanderson, a book designer, whom she married a few days before her death.
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