After their adventures in Africa, the four stars from New York's Central Park continue their journey back to New York and their beloved zoo. However, with the "help" of the chimpanzees and those penguins along the way, the trip is far from smooth sailing. At a casino in Monte Carlo, their antics cause chaos, attracting the relentless pursuit of Captain Chantel DuBois (voiced by Frances McDormand) from Animal Control. To escape capture, they hide in a circus touring across Europe. Within the circus, they continue the "Madagascar"-style humor, creating endless laughs. Although their travels through Europe are fraught with challenges and constant threats from Captain DuBois, they never lose sight of their dream to return to New York and Central Park. At the circus, they also help Siberian tiger Vitaly (voiced by Bryan Cranston), jaguar Gia (voiced by Jessica Chastain), and sea lion Stefano (voiced by Martin Short) regain their confidence in performing.