The Penguin has not appeared in The Adventures of Batman and Robin. The Penguin is a master criminal who aspires to be wealthy, powerful and respected (or at least feared) by Gotham's high society. The Penguin's wealth gives him access to better resources than most other Batman villains, and he is able to mix with Gotham's elite, especially those he plans to target in his future crimes.
He is also capable of returning to his luxurious lifestyle very easily despite his violent criminal history and prison record. He has even attempted multiple times to enter the political world, even launching expensive election campaigns.