Pénicaud is a surname. Notable people with the surname include:
- Cédric Pénicaud (born 1971), French swimmer
- Éric Pénicaud (born 1952), French classical composer, classical guitarist, and improviser
- Muriel Pénicaud (born 1955), French human resources professional and minister
- René Pénicaud (1843—1899), French politician and lawyer
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