Police believe he killed a good Samaritan who stopped to help one of the suspects she thought was injured in October 2006. Instead, she was beaten and dragged by a vehicle.
Pasadena police discovered her body and another victim inside the suspects' car near Colorado and San Rafael boulevards.
One suspect was arrested soon afterwards, but Penaloza had escaped to Mexico.
Penaloza is currently in a federal detention center in Mexico City awaiting extradition hearings.
City News Service contributed to this story.