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Is it Mawaru Penguin Drum? I don't know of any other anime series that have pervy penguins.
I think the show only had one penguin and that the other sidekick was some kind of feline.
Mermaid Melody Pichi Pichi Pitch is the only majokko featuring a penguin I remember, and I don't think it's that.
The best character is always the one-shot disguise.
Long shot but Mahou Shoujo Nante Mou Ii Desu Kara?
Edited by jormis29
Could it be Moetan? The bird there isn't a penguin, but it is a mahou shoujo anime with a pervy bird sidekick.
Edited by interimdispose
I looking for an anime about a magical girl with a pervy penguin sidekick who has a rival who is also a magical girl with a sidekick as well. I don't remember too much about the show, but there was an episode where the girl used her power to lift up a car that I think was crushing someone.