The Potters had announced earlier this month that, with his contract coming to an end, Pennant would be leaving them this summer.
But the 30-year-old has been handed the chance of a fresh start at the Britannia Stadium after impressing new Stoke manager Mark Hughes, who in May was appointed as successor to Tony Pulis.
Hughes told www.stokecityfc.com: "I've admired Jermaine from afar and there is no question about his ability.
"I am looking to introduce more creativity and attacking options to the side, qualities Jermaine can certainly offer us.
"I had a very positive meeting with him and it's now up to him to show everyone what he is capable of doing."
Source: PA
Source: PA