Italy will next play Russia on April 25-26 in the semifinals.
On Saturday, Francesca Schiavone and Pennetta won their opening singles matches. Pennetta saved a match point against Amelie Mauresmo after receiving a warning for verbal abuse and risking the loss of the match on a possible penalty point when she made an obscene gesture with her middle finger and directed it at the chair umpire.
Later Sunday, Amelie Mauresmo was to play Sara Errani in the second reverse singles match.
France has now lost the last three meetings with Italy.
Karim Benzema Ready To Stay With Lyon
Italy beats France to reach Fed Cup semifinals