Penny (2-3) surrendered only one unearned run, scattering six hits, allowing two walks and striking out one for the Tigers, who even their four-game series with the Yankees at one win apiece.
Daniel Schlereth gave up one run in two innings of relief and Jose Valverde closed out the win with his sixth save.
Jackson's triple in the fifth inning put the Tigers up 3-1. Scott Sizemore went 3-for-4 with an RBI and a run scored and Magglio Ordonez added two hits with a run driven in for Detroit.
CC Sabathia (2-2) surrendered 10 hits in seven frames for the Yankees, allowing four runs and three walks while fanning six.