Pennant struck an 82nd-minute free-kick as the Potters secured a third successive victory with a dominant 1-0 Barclays Premier League triumph against West Ham at Upton Park.
Adding to the sense of satisfaction is that they won playing the attractive style of football, instigated by Hughes since he replaced the more direct Tony Pulis in the summer.
"We're getting the ball down and showing what we can do, which is a lot different to last season and the years before that," Pennant said.
"We're getting the ball down and passing, and we've got the players to do that with great ability.
"That was probably one of the best away performances I've seen from us since I've been here.
"The boss wants us to play football how he sees it. He wants us to get the ball down and play.
"Obviously there are times when you've just got to clear your lines and get the ball long.
"We want to enjoy our football. If you're enjoying your football you're going to get the best out of your players."
Pennant's contract expired in the summer and the 30-year-old winger was expected to leave having been marginalised under Pulis, only for Hughes to give him a 12-month extension.
"Obviously with the old regime it was a bit iffy. When the new manager came in windows and doors started opening," Pennant said.
With two Premier League victories in the bank, Hughes has now accumulated more points for Stoke in three matches than he managed at QPR last season until he was dismissed in November.
The Welshman believes the players were ready for the change in playing philosophy and appreciates the breathing space his early success has given him.
"It was important to get points on the board early as it gives myself and my staff a bit of credibility. The players have bought into it," he said.
"We've got results to back up what I'm trying to do and they're fully committed to it. Maybe the players were ready to change."
West Ham defender James Collins felt the defeat was the Hammers' worst performance since his arrival last summer.
"I thought we were going to clock off for the international break with three clean sheets unless Stoke produced something special," he said.
"We're not happy with the way we played - it was our worst performance since I've been here. We never got out of the blocks but we'll just have to put it behind us."