The history of Pěnčín is connected with three noble families - the Vartenberk family, the Waldstein family and the Knights of Rohan. The Waldstein family is also referred to in the village coat of arms by a golden lion, in the lower part there is a red apple. It symbolizes growing and cultivation traditions the results of which made the village famous near and far.

Pěnčín is a good starting point for hiking and cycling excursions to Podještědí and Český ráj.