It is really easy to clean pennies at home, no matter how dirty they can get. And you can try all the cleaning products that you can find but the best substance that you can actually use is either apple juice or orange juice. In your case then it is recommended that you use orange juice, although you could try both to see which one suits your coins best.
All you need to do is to dip the corner of a small cloth in some orange or apple juice, depending on your preference, and then rub at the coin with it. You may need to change the area of the cloth that you use.
If your coins are really dirty or if the orange or apple juice is not working then something that has been proven to produce really good results is vinegar or lemon juice. However if you choose to use these then what you need to do is to pour some into a small bowl and then place the coin in the bowl so that it is completely submerged. And then all you need to do then is leave it there overnight. For better results, try adding a little bit of table salt and mix it well with the lemon juice or vinegar. It you leave the coins in the solution overnight then they should be sparkling clean in the morning. Lemon juice is thought to be the best one for the job.
Apparently, tomato juice is also very good for getting rid of dirt from coins. If any juices don't work when trying to clean the coins using a cloth, then just try leaving them in a small bowl filled with the juice of your choice. Another tip that is flying about the Internet is Coca-Cola so depending on how quickly you need the coins cleaned, you can try a variety of different solutions.