The town put on an impressive tribute to the military on Saturday with a parade through the streets ahead of the main event on the showground.
Organised by the local Armed Forces committee, the occasion was helped by glorious weather which brought out the crowds.
Two D-Day veterans were among those who honoured service personnel.
Attractions included vintage American wartime vehicles including tanks, blank firing and marching bands.
Special guests included South Yorkshire Mayor Dan Jarvis, Barnsley Mayor Coun Pauline Markham and Penistone town mayor Coun Gillian Millner.
Penistone ward councillor Robert Barnard said: “This was a very impressive event and a very good turnout.”
Financial and other support for the day came from Penistone Town Council, Penistone Ward Alliance and Barnsley Council.