The story revolves around three bike-riding Penguins that inhabit Big City, uniting to protect it and its citizens from the evil Caractacus P. Doom, an insane and reclusive criminal scientist.

The Penguins attempt to prevent Doom's schemes but find themselves often hampered by their own miscommunicating and occasional scraps with other biker gangs infesting Big City, such as The Stink Brothers, a canine squad of Hell's Angels.

The cast, like Danger Mouse, Count Duckula and Victor and Hugo: Bunglers in Crime had with David Jason, boasted a star talent in a major role, this time in the form of American comedian Mike McShane as the Penguin's un-coordinated but brash leader Marlon, as well as the villainous Doom.

The entire series was released on a three-disc DVD box set in March 2006 by Delta Leisure Group PLC and Fremantle Media.

During the show's original run, Avenger Penguins episodes were released on 3 VHS titles from Thames Video and Arena Home Entertainment, often in a different sequence than that when televised.