By analysing hours of football footage, they determined that this was the only way of ensuring a goal.
Ideally the ball should pass exactly half a metre (just under two feet) inside the crossbar and either one of the goalposts, they found.
The player should approach the ball at an angle of 20 to 30 degrees.
The research team at Liverpool John Moores University made their recommendations after studying footage from Sky Sports' high definition cameras installed at the back of goal nets, according to The Sun.
Professor Tim Cable, director of sport and exercise sciences, told the newspaper: "Many factors make up a 'perfect penalty'. But we've finally nailed the key elements."
The university's research could have helped the likes of Frank Lampard, Steven Gerrard, and Jamie Carragher, who all fluffed their penalties in England's quarter-final clash against Portugal during the last World Cup.
It could have also have helped David Beckham, who 'skied' his penalty – also against Portugal – in the nail-biting quarter-final of Euro 2004.
