The movie, which opens in UK cinemas on October 19, sees Alex the Lion (Ben Stiller), Marty the Zebra (Chris Rock), Gloria the Hippo (Jada Pinkett Smith) and Melman the Giraffe (David Schwimmer) join a travelling circus in Europe as they try to make their way back home to New York.
In the minute-long teaser video, the animated animals find themselves squabbling over who is going to be the group's leader.
2005's Madagascar and its 2008 sequel, subtitled Escape 2 Africa, pulled in more than $1 billion at the worldwide box office.
Madagascar 3: Europe's Most Wanted, which also features the voices of Sacha Baron Cohen and Frances McDormand, will get its world premiere at the 65th Cannes Film Festival on Friday, May 18.
> 'Madagascar 3: Europe's Most Wanted' trailer released
> Cannes Film Festival: 65 years of iconic pictures