The Today Show's Al Roker, Meredith Vieira and actor Anthony Edwards were also among the stars who participated in the event on Sunday.
Pena was one of the 33 miners who spent 69 days trapped underground in Chile earlier this year and he was nicknamed "The Runner" because he would run everyday in the darkness. He finished the race in 5 hours, 40 minutes and 51 seconds and described the experience as a "beautiful dream", according to ITN.
Zohn, who recently completed treatment for Hodgkin's Lymphoma, took to his Facebook page before the event began to say he was "so pumped [to be] honouring everyone who has supported me this year", while Sutter was cheered on by wife Trista, who praised him on her Twitter account: "Ryan bested his time by 7 minutes!!! 3 hours 20 minutes! Yay baby! (sic)"
Other celebrities who participated included Howard Stern's sidekick Robin Quivers, chef Bobby Flay and model Veronica Webb and former New York Giants wide receiver Amani Toomer.
The race was won by Gebre Gebremariam from Ethiopia for the men in 2 hours, 8 minutes and 14 seconds, while Edna Kiplagat was the fastest woman in 2 hours, 28 minutes and 20 seconds.