Oh gosh, I remember this show...I was just thinking about it the other day and now I'm coming across it here. Never made a mental note of the title because I rarely caught it for some reason but when I did I liked it.
I thought this was a pretty swell piece of edutainment. I still remember a lot of the animal trivia they taught us with its 3 charismatic but playful hosts (two humans and a surprisingly convincing lemur puppet).
They break up the live action parts with a stop-motion section about the puppet so the episode has variety.
I haven't seen this for over 10 years but if you want something animal related and informative you can watch with your smaller ones then this one would not be too excruciating. In fact, it's very charming.