Penelope's left virtually superior valet at last — eg, Parker (6)

I believe the answer is:

puppet

(Other definitions for puppet that I've seen before include "Toy (with strings attached?)" , "Doll controlled by strings" , "One manipulated by another" , "Small doll on strings" , "Doll on a string or rod" .)

I've seen this clue in The Times.

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