A crowd of 401 witnessed Garforth extending their unbeaten league run to ten games.
James Burgess gave the Miners a slender half time lead, but Hass Gorji and a Joe Colley brace put the game beyond reach in the second period.
Penistone pulled a late goal back, but it was just a consolation.
Garforth are next in action on Tuesday at home to Staveley - 7.45pm and on Saturday at home to AFC Mansfield - 3pm kick-off.