Penalva do Castelo és un municipi portuguès, situat al districte de Viseu, a la regió del Centre i a la subregió de Dão-Lafões. L'any 2004 tenia 8.768 habitants. Es divideix en 13 freguesias. Limita al nord amb Sátão, al nord-est amb Aguiar da Beira, a l'est amb Fornos de Algodres, al sud amb Mangualde i a l'oest amb Viseu.
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