From Wikipedia, the free encyclopedia Nicole Parker (born February 21, 1978) is an American actress, comedian, writer, and singer. She is best known for her work on Fox's sketch comedy show Mad TV (2003–2009, 2016). In July 2009, she concluded her run as Elphaba in the Broadway production of Wicked, a role that she reprised on tour across North America. Since 2017, Parker has voiced Penelope Pitstop in the Wacky Races animated series.