The Gills took the lead in the second half when Captain Lee Martin was brought down in the area and Tom Eaves slotted home the penalty.
Scott Wagstaff doubled the lead with a brilliant left-footed strike from 25 yards and although Rowe pulled a goal back for Ipswich after 80 minutes the Gills stood firm to claim another victory.
Pennock was happy to get through another game unscathed, and spoke of his delight that new signings and exciting youth prospects are creating healthy competition throughout the squad.
Pennock on…the game
“It was a good workout for us. Ipswich popped it around very well but I was pleased with our shape and our fitness levels were very good.
“Once again, we’ve come through with no injuries which is the big thing for me. I’m not worried about the result but it does give you a bit of a confidence boost.
“Let’s not get carried away it’s only preseason, but I’m pleased with everybody’s attitude – there’s a good feel around the place and we’re getting sharper.”
Pennock on…new signings
“I’m excited about all the signings. It’s not just about watching them in games, we did a lot of homework. I want to know what their personalities are, what makes them tick.
“The biggest thing for me is competition. The balance last season wasn’t right, in my opinion, but we now have competition for every place.
“I would like to sign more if we can – two or three possibly – but I will have to shake the chairman upside down.”
Pennock on…emerging Academy prospects
“On my first day here I watched the FA Youth Cup tie at Sheffield Wednesday and [Ben Chapman] shone. I don’t want to put too much pressure on him but he’s got a good future. DJ [Darren Oldaker] has shone too and we are lucky to have some good lads.
“They need men’s football to learn their trade a little bit. We can get either them out on loan, toughen them up a bit, or we keep them here and they fight for a place.”
Pennock on…the captaincy
“I haven’t chosen a captain yet. Some players lead by example in the way they play or they lead by being vocal.
“I want them all to be captains this year – it’s only an armband.”