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No. The closest resemblance to John O'Hurley's voice (whom we know in previous life played J Peterman in Seinfeld) would be Kowalski. However, per http://animatedtv.about.com/od/showsaz/tp/penguinsofmadagascarcast.htm the voice of Kowalski's voice is played by Chris Miller.

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Q: Is John O Hurley the voice of anybody from The Penguins Of Madagascar?
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