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You can stream The Penguins of Madagascar (2008) on Paramount+ with a subscription.

The adventures of four penguins—Skipper, Kowalski, Private, and Rico, who perform various commando-like missions to protect their home in the Central Park Zoo. The penguins often have to deal with problems caused, or made worse, by their zoo neighbors, King Julien XIII (a ring-tailed lemur), Maurice (an aye-aye), and Mort (a mouse lemur).

A frantic, high-octane energy fuels every commando mission these flightless birds undertake. Chaos reigns when their tactical precision clashes with the ego of a ring-tailed lemur king.

Trailer