The school caters for youngsters with special educational needs and the donated equipment will help the children's learning and development of their motor skills.
The specialist equipment promotes the control of finger movements, muscular strength, physical skills and balance, skills which those with additional needs can struggle to develop as a child.
When Goodyear closed they decided that they would use the remaining cash from their 5/344 Transport and General Workers Benevolent Fund to benefit community projects in Wolverhampton and the Black Country, and so far they have contributed to more than 100 charitable projects in the area.
Cyril Barrett, chairman of the Benevolent Fund, said: "We have had a history of supporting the school in the past through the funds, it's a wonderful school.
"We wanted to create a legacy for Goodyear's with the money from the fund and help the people in the Black Country who are the most vulnerable, and what better way to leave a legacy than by supporting these children."
The final cost of the equipment for the school was approximately £9,300.
The school marked the donation with a presentation event on Friday.
Tommy Willets, who worked at Goodyear for over 30 years, gave a speech to the audience of staff, schoolchildren and supporters.
Fiona Gillespie, headteacher at Penn Hall School, said: "We are an amazing school, and we have been mad more amazing by the partnership, generosity and friendship we have with the staff at Goodyear's.
"This will enable us to do even more to support the physical, emotional and personal development of our young people and help them grow.
"We are incredibly grateful for the continued support of the Goodyear's Benevolent Fund."