Penobscot Town Hall is located at 1 Southern Bay Road, Penobscot ME 04476.
The first settler of Penobscot, as originally incorporated, was Reuben Gray, in 1760. The first survey of the town was made by John Peters. Settlers following Gray included Jacob Sparks, Daniel Perkins, Samuel Averill and Solomon Littlefield, about 1765.
Names appearing among the earliest municipal offices include: John Lee, Jeremiah and Daniel Wardwell, John and Joseph Perkins, John Wasson, David Hawes, Elijah Littlefield, Isaac Parker, and Peltiah Leach.
The name Penobscot is from the Indian Penobskeag, or Penopeauke, signifying "rocky places."
The town was incorporated February 23, 1787.