Ben Stiller, Chris Rock, David Schwimmer, Jada Pinkett Smith, Sacha Baron Cohen, Cedric The Entertainer and Andy Richter will reprise their roles in Madagascar: Escape 2 Africa.
Baldwin will play Makunga, the father of Stiller's lion Alex, while Black Eyed Peas star will.i.am will voice watering hole lothario Moto Moto.
Bernie Mac and Sherri Shepherd have also climbed aboard the DreamWorks comedy.
Madagascar was the number one animated film of 2005, grossing more than $532 million worldwide.
The sequel, which sees the New York animals marooned on the island, is scheduled for release on November 7.
> Click here for our review of Madagascar