Pulpal innervation refers to the complex network of nerves within the dental pulp, responsible for transmitting sensory information such as pain, temperature, and pressure from the tooth to the central nervous system. This innervation is primarily composed of myelinated and unmyelinated nerve fibers that enter the pulp through the apical foramen and form the subodontoblastic plexus of Raschkow, playing a crucial role in tooth sensitivity and pain perception.