Penny's father is long dead, and no one will tell her what happened to him. She lives with her mother and grandparents, who live a rather dull and straitlaced life. But her father's family lives nearby -- grandparents, uncles, aunts, and cousins -- and they're anything but straitlaced.
Her cousin/best friend, Frankie, wants to be a criminal -- just like his incarcerated father. Penny's Uncle Dominic lives in his car by choice and harbors a sad secret. Her Aunt Gina and her grandmother, Nonny, live in the same house but can't stand each other, so they have separate kitchens. And now, much to Penny's chagrin, her mother is dating the milkman. Penny from Heaven includes an Author's Note, a family album of photos, and resources.