By MIKE HUGHES

TONIGHT'S MUST-SEE (cable or satellite): "The Penguins of Madagascar" debut, 9:30 p.m., Nickelodeon.

The penguin characters from the "Madagascar" movies now have their own series. It's a dandy one, clever enough for kids and grown-ups.

Tom McGrath, who co-wrote and co-directed both movies, again offers the voice of Skipper. He's the leader of the penguins, who are cute and cuddly for zoo visitors, more complicated in their own lives.

The biggest complication come from Julien, king of the lemurs. He feels he has a right to everything in the penguins' lives and refrigerators. Tonight, Skipper leads a vacation, hoping to land on the lemur-free moon.

In the second story, we meet Marlene (Nicole Sullivan), a sarcastic otter whose home may be haunted. It's a funny start to a terrific show that will continue in prime time (at 5 p.m. weekdays) for two weeks, before settling in on Saturdays.