Penetration describes the proximity to which an electron can approach to the nucleus. In a multi-electron system, electron penetration is defined by an electron's relative electron density (probability density) near the nucleus of an atom. Electrons in different orbitals have different wave functions and therefore different radial distributions and probabilities (defined by quantum numbers n and ml around the nucleus). In other words, penetration depends on the shell (n) and subshell (ml). For example, we see that since a 2s electron has more electron density near the nucleus than a 2p electron, it is penetrating the nucleus of the atom more than the 2p electron. The penetration power of an electron, in a multi-electron atom, is dependent on the values of both the shell and subshell.
Within the same shell value (n), the penetrating power of an electron follows this trend in subshells (ml):
s>p>d>f
And for different values of shell (n) and subshell (l), penetrating power of an electron follows this trend:
1s>2s>2p>3s>3p>4s>3d>4p>5s>4d>5p>6s>4f....
and the energy of an electron for each shell and subshell goes as follows...
1s<2s<2p<3s<3p<4s<3d<4p....
The electron probability density for s-orbitals is highest in the centre of the orbital, or at the nucleus. If we imagine a dartboard that represents the circular shape of the s-orbital and if the darts landed in correlation to the probability to where and electron would be found, the greatest dart density would be at the 50 points regions but most of the darts would be at the 30-point region. When considering the 1s-orbital, the spherical shell of 53 pm is represented by the 30-point ring.
Electrons which experience greater penetration experience stronger attraction to the nucleus, less shielding, and therefore experience a larger Effective Nuclear Charge (Zeff) but shield other electrons more effectively.