Klingon is an action-oriented (verb-centric) language, rather than a thing-oriented (noun-centric) one like English. We saw this with the paq'batlh (a Klingon religious text), where section titles which are translated as nouns in English (e.g., "A Brother's Forgiveness") are actually expressed using verbs in the original Klingon (qeHHa' loDnI', or "A Brother Forgives", or more literally, "A Brother Un-resents").
So, to translate "Escape from Rura Penthe", a natural-sounding Klingon translation would actually be something like "One escapes from Rura Penthe" or "He/she escapes from Rura Penthe" or "They escape from Rura Penthe". So rura' pente'vo' nargh "he/she/they escape from Rura Pente" is what you want.
You are correct that that is ungrammatical. I would translate it as:
rura' pente'vo' nargh.
Keep in mind that "escape" here is a verb, not a noun, so the sense of the above sentence would be closer to English "to escape from Rura Pente." Perhaps one of the more experienced folks on these boards could provide you with a better translation.