The Keeping Up With the Kardashians star posted on her Instagram Stories feed several photos and videos from their visit on Thursday.
In one pic, Kanye smiles widely while crouching down and cuddling their son, Saint West, 2.
In a video, Saint glances down at penguins and says, smiling, "He's looking at you!"
Kim also shared a pic of her and daughter North West, 4, staring at the penguins.
In another video, North feeds an elephant a romaine lettuce leaf.