Penny told the Loose Women panel that husband Rod begged her not to ‘neglect him’ after their son Aiden Patrick Stewart was born in 2011.
And the former model made a pact that she would start as she meant to go on to ensure that her rocker husband’s needs were met.
She said: “We didn’t have a contract, but having had the experience he has had in the past with other children and mothers, he brought some wise words to the hospital that day, along with our paediatrician.
“While I was pregnant, Rod said to me, ‘Darling, I have had this experience and there’s one thing I am worried about and that’s being pushed out of the picture.
“I understand the baby needs you and you’ll be breastfeeding, but please don’t neglect me.’
“And I said, ‘I won’t darling’, and of course when the baby comes along and you have baby brain and you’re breastfeeding its difficult.”
Penny then added:””But I made a very conscious effort for my husband not to be left out. He said one golden rule, no baby in the bed, and I thought that was fair enough, families are about compromise.”
She continued: “I gave birth about 4 o’clock in the evening, Rod had pre-empted and booked dinner presuming I’d be in hospital.
“But I thought, ‘Nope, I’m going to start as I mean to go on,’ and I went for dinner with them.
“Bear in mind I had stitches, and the nurses were really concerned. I said, ‘My brother is a paramedic,’ we were just round the corner.
“I was in euphoria for the few hours of giving birth, I had to sit with one cheek on the chair because of the pain, then my mum, who was at the hospital, called me and said, ‘Darling we need you back, your baby is crying for milk.'”
Penny’s confession caused the Loose Women to gasp as Judi Love exclaimed: “My vagina is hurting!”
Charlene White added: “That is a dedication to your man on a whole different level.”
Others online were less kind as they berated Penny for putting her man before her new baby and cursed Rod for being a selfish man.
One said sarcastically: “Penny: “He wakes up and cries for milk”. Is she talking about her son or Rod?”
Another added: “I’m actually gobsmacked that anyone thinks it’s ok to leave a newborn in a hospital to go to dinner. If a woman who lived in a council house did that to go to Maccys, Social Services would be involved. But because it’s Penny Lancaster we’re supposed to be in awe?”
Another objected: “Disgusted by the attitude of Rod Stewart re baby/children. I thought Penny was going to say his “don’t leave me out/push me out” speech was going to be about wanting to be involved in feeding, nappy changes etc. Turns out he’s more concerned about his own wants”.”
And one suggested: “No wonder Rod has so many ex wives… What a spoilt man.. “Don’t neglect me Rod Stewart”
While another added “For anyone that missed it. The story is about Rod Stewart being a massive needy selfish man baby!”
However some were kinder with one saying: “Penny Lancaster just casually mentioning she’s better and stronger than everyone else. What a queen leaving her newborn at the hospital so she can go for dinner.”
And another said: “If I ever come back as another woman in this life. I want to come back as Penny Lancaster. Always in so much awe when I watch Penny on Loose Women.”