The quarterback signed a one-year deal with the team Monday. He's expected to back up Chad Henne, who replaced him when Pennington injured his right shoulder in the third game last season.
The 33-year-old Pennington is recovering from the third operation of his career on his throwing shoulder. Twice he has returned from injuries to win NFL Comeback Player of the Year, most recently in 2008, when he led the Dolphins to their first playoff berth in seven years.
During that first season in Miami, Pennington made an immediate impact by helping lead the Dolphins to the biggest single-season improvement in NFL history, 1-15 to 11-5 and the first AFC East championship for Miami since the 2000 season.
Pennington spent the first eight seasons of his NFL career with the New York Jets, who made him a first-round draft choice in 2000 (18th overall).