Your brew didn't pick up off flavours from the penny. That's certain. A lot of older commercial breweries actually have copper boil kettles. I think a commercial brewer would pick up off flavours from an entirely copper kettle before you would detect the effect of a penny!
And the penny in the kettle isn't a bad idea. It provides nucleation points for the boiling liquid. You need to toss in a bunch to make it effective, and even then, it doesn't help a great deal.
However, getting some copper in your wort is a very good thing for the yeast. That's another (perhaps better?) reason to put in the (clean) pennies. A piece of real copper pipe would be even better.