<Tr> <Th> Agent </Th> <Td> Viva Artists Agency (2017--present) </Td> </Tr> <P> Darcy Rose Byrnes (born November 4, 1998) is an American actress . She is best known for her roles as Abby Carlton Newman on The Young and the Restless and Penny Scavo on Desperate Housewives . She currently works as the voice of Princess Amber in Sofia the First and Maricela in Spirit Riding Free . </P> <P> Byrnes appeared in the direct - to - video film The Sparky Chronicles: The Map in 2003, the same year she landed a role in the soap opera The Young and the Restless as Abby Carlton from 2003 to 2008 . During that time she also had a guest starring role in The Bold and the Beautiful for 8 episodes . Byrnes also has appeared in television shows including How I Met Your Mother, Ghost Whisperer, Cold Case, Dirty Sexy Money and House . She played Rebecca Knepp in the hallmark television movie, Amish Grace alongside Kimberly Williams - Paisley . She played Penny Scavo in the ABC show Desperate Housewives . </P> <Table> Film and television roles <Tr> <Th> Year </Th> <Th> Title </Th> <Th> Role </Th> <Th> Notes </Th> </Tr> <Tr> <Td> 2003 </Td> <Td> The Sparky Chronicles: The Map </Td> <Td> Daughter </Td> <Td> Direct - to - video film </Td> </Tr> <Tr> <Td> 2003--2008 </Td> <Td> The Young and the Restless </Td> <Td> Abby Carlton Newman </Td> <Td> Recurring role </Td> </Tr> <Tr> <Td> 2005 </Td> <Td> Without a Trace </Td> <Td> Young Melissa </Td> <Td> Episode: "The Innocents" </Td> </Tr> <Tr> <Td> 2005 </Td> <Td> 1 / 4life </Td> <Td> Little Sister </Td> <Td> Unsold television pilot </Td> </Tr> <Tr> <Td> 2007 </Td> <Td> Cold Case </Td> <Td> Abby Bradford (1999) </Td> <Td> Episode: "A Dollar, a Dream" </Td> </Tr> <Tr> <Td> 2007 </Td> <Td> Brothers & Sisters </Td> <Td> Gwyneth </Td> <Td> Episode: "Game Night" </Td> </Tr> <Tr> <Td> 2007 </Td> <Td> The Bold and the Beautiful </Td> <Td> Abby Carlton Newman </Td> <Td> 8 episodes </Td> </Tr> <Tr> <Td> 2007 </Td> <Td> 1321 Clover </Td> <Td> Tallulah </Td> <Td> Television film </Td> </Tr> <Tr> <Td> 2007 </Td> <Td> The Kidnapping </Td> <Td> Hannah McKenzie </Td> <Td> Television film </Td> </Tr> <Tr> <Td> 2008 </Td> <Td> How I Met Your Mother </Td> <Td> Lucy Zinman </Td> <Td> 5 episodes </Td> </Tr> <Tr> <Td> 2008 </Td> <Td> Shark Swarm </Td> <Td> Heather </Td> <Td> Television film </Td> </Tr> <Tr> <Td> 2008--2009 </Td> <Td> Dirty Sexy Money </Td> <Td> Kiki George </Td> <Td> Episodes: "The Injured Party", "The Organ Donor", "The Convertible" </Td> </Tr> <Tr> <Td> 2009 </Td> <Td> Private Practice </Td> <Td> Gracie Rousakis </Td> <Td> Episode: "Homeward Bound" </Td> </Tr> <Tr> <Td> 2009 </Td> <Td> Medium </Td> <Td> Phoebe Burnes </Td> <Td> Episode: "A Taste of Her Own Medicine" </Td> </Tr> <Tr> <Td> 2009 </Td> <Td> My Name Is Earl </Td> <Td> Maddy </Td> <Td> Episodes: "Witch Lady", "Pinky" </Td> </Tr> <Tr> <Td> 2009 </Td> <Td> House </Td> <Td> Marika Greenwald </Td> <Td> Episode: "The Social Contract" </Td> </Tr> <Tr> <Td> 2009 </Td> <Td> Ghost Whisperer </Td> <Td> Drew Stanton </Td> <Td> Episode: "Cursed" </Td> </Tr> <Tr> <Td> </Td> <Td> Healing Hands </Td> <Td> Dawn </Td> <Td> Television film </Td> </Tr> <Tr> <Td> </Td> <Td> Amish Grace </Td> <Td> Rebecca Knepp </Td> <Td> Television film </Td> </Tr> <Tr> <Td> </Td> <Td> The Land of the Astronauts </Td> <Td> Jennifer </Td> <Td> Television film </Td> </Tr> <Tr> <Td> 2010--2012 </Td> <Td> Desperate Housewives </Td> <Td> Penny Scavo </Td> <Td> Also starring role (seasons 7--8) </Td> </Tr> <Tr> <Td> 2011 </Td> <Td> A Thousand Words </Td> <Td> 10 - Year - Old Girl </Td> <Td> Film </Td> </Tr> <Tr> <Td> 2012--2014 </Td> <Td> The Legend of Korra </Td> <Td> Ikki </Td> <Td> Voice role </Td> </Tr> <Tr> <Td> 2012 </Td> <Td> Sofia the First: Once Upon a Princess </Td> <Td> Princess Amber </Td> <Td> Voice role; television film </Td> </Tr> <Tr> <Td> 2013--present </Td> <Td> Sofia the First </Td> <Td> Princess Amber </Td> <Td> Voice role </Td> </Tr> <Tr> <Td> 2016 </Td> <Td> Elena and the Secret of Avalor </Td> <Td> Princess Amber </Td> <Td> Voice role; Television film </Td> </Tr> <Tr> <Td> 2017 - present </Td> <Td> Spirit Riding Free </Td> <Td> Maricela </Td> <Td> Voice role </Td> </Tr> </Table>

Who plays lucy in how i met your mother