In Peñalba de San Esteban, remains of a Celtiberian settlement and a Roman villa have been found. It seems that a watchtower stood here (the first of the defensive and surveillance line of the Duero border during the Reconquest), which had visual communication with that of Monte del Cubo, in Piquera (Soria).

The most representative monument in the town is the Church of Santa María La Mayor. It is a temple with a single nave that is characterised by its Renaissance porticoed gallery.

On the road to Piquera we find the hermitage of San Roque, the saint to whom the patron saint festivities of Peñalba de San Esteban are dedicated in the middle of August. The hermitage is the destination of most of the processions and, on occasion, the place where mass is also celebrated (on the day of San Roquillo, 17 August).

But if there is one thing that characterises Peñalba, it is two types of buildings that make up the local landscape: the bodegas (wine cellars) and the pigeon lofts. Although we are in the Ribera del Duero, before this mark there were already underground cellars that cross the village from one side to the other. The cylindrical pigeon lofts are visible to all, and although they are no longer in use, they still retain their structure and form a characteristic profile next to the fields.

In the surrounding area you can stroll around the “Los Magazos” spot (where the “Tetas de la Reina“, so called because of the shape of its twin hills) and the Pico Del Cuerno, on the ascent of which is the Cueva de la Zorra (Fox Cave).

A branch of the Cañada Real Soriana Occidental, which comes from San Esteban and Aldea, crosses the entire municipality, including the town centre, and reaches Peñarrodás.

The mondillo for stew is the contribution of the people of Peñarrodás to Castilian gastronomy.

The river Pedro and the Vega stream bathe this riverside village of Peñalba de San Esteban.

Peñalba de San Esteban is known by the people of Peñalba de San Esteban: peñalbinos.