mid-14c., pencel, "an artist's small, fine brush of camel hair," used for painting, manuscript illustration, etc., from Old French pincel "artist's paintbrush" (13c., Modern French pinceau) and directly from Medieval Latin pincellus, from Latin penicillus "painter's brush, hair-pencil," literally "little tail," diminutive of peniculus "brush," itself a diminutive of penis "tail" (see penis).

The word pencil comes from the latin, penicillum , the name for a small, fine-tipped brush used for writing, which in turn is a diminutive form of the latin word for brush, peniculus, which in turn is a diminutive form of the Latin word penis, which means “tail.”

The word pencil comes from the Latin word pencillus which means "little tail". It is an invention of the 16th century in England.