The former Arsenal and Liverpool man found himself outside of former manager Tony Pulis' plans last season, and he was set to depart the Britannia Stadium upon the expiry of his contract this summer.
However, new boss Mark Hughes decided to hand the 30-year old a lifeline, leaving Pennant keen to move on from the previous regime.
"With the old manager, things didn't work out," he told The Sun.
"But getting a new contract shows that I wasn't to blame. It shows the faith Stoke have in me. The club have always wanted me to stay, speaking to the hierarchy.
"But that's done and dusted, it's a new era now. We've got a new manager in and hopefully we can take that big step forward.
"We should be a top-10 team with the players we've got and hopefully with Mark's attributes, we can be."