Pennington, 42, had been charged with two misdemeanor counts -- driving with a blood-alcohol level above the 0.08 percent limit and driving under the influence of alcohol.
He pleaded no contest to the first count and the other count was dismissed, said Frank Mateljan, a spokesman for the city attorney's office. Mateljan said it was a normal disposition for a first offense.
A judge placed Pennington on three years' probation, restricted his driving privileges for 90 days and ordered him to participate in a 90-day alcohol program and attend a Mothers Against Drunk Drivers meeting, Mateljan said.
He faced up to six months in jail and a $1,000 fine if convicted of the charges by a Superior Court jury.
Pennington was arrested May 5 and released after posting $5,000 bail.
"I'm happy to bring closure to my recent court proceedings," Pennington said in a statement released by publicist Stan Rosenfield. "Drinking and driving is never acceptable. I have pleaded no contest and will abide by the court's ruling."