| Document and Entity Information | Jul. 15, 2021 |
| Document and Entity Information [Abstract] | |
| Document Type | 8-K |
| Document Period End Date | Jul. 15, 2021 |
| Entity File Number | 1-12297 |
| Entity Registrant Name | Penske Automotive Group, Inc. |
| Entity Incorporation, State or Country Code | DE |
| Entity Tax Identification Number | 22-3086739 |
| Entity Address, Address Line One | 2555 Telegraph Road |
| Entity Address, City or Town | Bloomfield Hills |
| Entity Address, State or Province | MI |
| Entity Address, Postal Zip Code | 48302 |
| City Area Code | 248 |
| Local Phone Number | 648-2500 |
| Written Communications | false |
| Soliciting Material | false |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
| Title of 12(b) Security | Voting Common Stock, par value $0.0001 per share |
| Trading Symbol | PAG |
| Security Exchange Name | NYSE |
| Entity Emerging Growth Company | false |
| Entity Central Index Key | 0001019849 |
| Amendment Flag | false |
