A lion, a zebra, a giraffe, and a hippo are the star attractions at the Central Park Zoo. They have spent their lives in blissful captivity, enjoying the admiration of the public and living in comfort. However, the zebra yearns for something more—a life beyond the zoo's bars. Struck by a craving for freedom and the wild, he makes a break for it. His friends, unwilling to let him go alone, embark on a quest to find him, which inadvertently leads them to be captured, crated, and shipped off to a wildlife reserve in Kenya. Their plans go awry when the ship carrying them is hijacked by penguins with a plan of their own.

The crates containing the four friends fall into the ocean during the commotion and wash ashore on Madagascar. Unaccustomed to the wild, the group initially struggles to adapt to their new environment. While the lion, as the natural leader, tries to keep the spirits up and ensure the group's survival, internal and external pressures test their friendship. Without the comforts of the zoo, their adventure pushes them to discover their true natures and the meaning of freedom. The island, full of unique creatures and challenges, offers them a chance to explore life beyond the confines they've always known.