Space mining represents the next frontier for resource acquisition. As humanity sets its sights on the vast resources of our solar system, the demand for efficient and cost-effective tools grows. This chapter explores the potential of planetary penetrators as such a tool for identifying resources and selecting mining sites on celestial bodies. These high-velocity penetrators can be deployed in swarms to rapidly assess subsurface compositions across extensive areas. Equipped with miniaturized sensors, penetrators analyze regolith composition and gather crucial data on the presence of valuable resources like water ice, rare earth elements, and precious metals. The chapter examines technological advancements, introduces and compares various penetrator mission concepts, and highlights penetrator advantages over traditional methods through direct, in-situ measurements for precise resource mapping at lower cost. Simulation-based analysis is presented to validate the performance of novel concepts. Finally, the chapter addresses legal and ethical considerations surrounding the use of penetrators, advocating for responsible design and deployment strategies illustrating how penetrators can be instrumental in facilitating sustainable space resource utilization.