The Warriors were no match for a hungry Panthers side, going down 32-6 at BlueBet Stadium with the absence of star half Shaun Johnson extremely evident.
The Warriors will now travel back to New Zealand to prepare for a home final next Saturday against the winner of Sunday's Knights-Raiders elimination final.
Utility Dylan Walker filled in for Johnson, pairing Te Maire Martin in the halves, with the duo failing to spark anything against Penrith's stout defence.
The visitors had some moments, with Wayde Egan and Mitch Barnett having strong outings, but overall it's fair to say the Warriors were comprehensively outplayed, handing in a performance which wouldn't have impressed coach Andrew Webster.