Pennington, who replaced Chad Henne as the Dolphins' starter this week, left Sunday's game against the Tennessee Titans after two plays because of a hurt shoulder. He missed almost all of last season with a separated shoulder.
Pennington left the game after connecting with Brian Hartline on a 19-yard pass play to the Titans' 12-yard line. He was taken into the locker room.
Henne, who took the second-team reps all week, came in and completed the scoring drive, which was finished by a 2-yard Ronnie Brown touchdown run.