The penis is innervated by the following nerves:

Pudendal nerves (dorsal nerve of penis)
Perineal nerves
Posterior scrotal and dorsal nerves
Pelvic splanchnic nerves (S2 and S3)

The scrotum is innervated by the:

Anterior scrotal nerves from the ilioinguinal nerve
Genital branch of the genitofemoral nerve
Posterior scrotal branches of the perineal branch from the pudendal nerve
Branches of the posterior femoral cutaneous nerve

The testicles and epididymides are innervated by autonomic and sensory nerves that arise from the testicular plexus - a network of nerves that arise from the renal and aortic plexuses.

The ductus deferens, seminal vesicles, ejaculatory duct, bulbourethral glands, and prostate receive nerves arising from the inferior and superior hypogastric plexuses, as well as pelvic splanchnic nerves (S2 and S3).

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Innervation of male genital organs