Coach Tony Sparano announced the change, which will hand Pennington, 34, the job that Henne seized in Week 4 of the 2009 season.
Chad Henne led the Dolphins to a 4-4 record before being benched.
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Sparano said the job was Pennington's permanently."Took a lot of things into consideration, weighed an awful lot of options out," Sparano said, via the Miami Herald. "This is not an indictment at all. This is not an indictment on (Henne's) future.