The character of Alfred Pennyworth in this series was specifically developed from Michael Caine's portrayal in Christopher Nolan's The Dark Knight trilogy, which included a background as a member of the British SAS.

The day after the series premiere, director Danny Cannon confirmed that Pennyworth would serve as a loose prequel to Alan Moore and David Lloyd's V for Vendetta as well as a direct prequel to Gotham, with the depicted British Civil War eventually leading to the Norsefire government from V for Vendetta.

Characters wearing V's Guy Fawkes mask were introduced in the show's third season, set five years after the first two seasons, and showrunner Bruno Heller confirmed this represented a direct crossover with V for Vendetta.

James Purefoy, who was originally cast as V in the 2005 film V for Vendetta before being replaced, later joined Pennyworth in its second and third seasons as Captain Gulliver 'Gully' Troy, who becomes the super-soldier Captain Blighty.

Principal photography began on October 22, 2018, at Warner Bros. Studios Leavesden in Hertfordshire, England, and wrapped on May 24, 2019.

The landmark London building Florin Court was used as the home and neighbourhood of one of the series' lead characters, while Chatham Dockyard in Kent was used to stand in for 1960s East London streets.

Filming on the second season began in January 2020 but was paused in March due to the COVID-19 pandemic before the season eventually premiered in December 2020.

A tie-in comic featuring the character, set after the events of the third season during the Cold War, was released in August 2021, written by Scott Bryan Wilson with art by Juan Gedeon.