Mzingo appears to see Mwoga as his closest friend, and frequently works alongside him as opposed to other members of his parliament. Despite this, Mzingo does not view Mwoga at the same level of intellect as himself, as seen by how he sometimes reacts towards his friend, particularly when Mwoga questions him or makes a mistake.
Mzingo used to be an ally of Janja and his clan, which is proven when he brings him news of the new Lion Guard.
Mzingo will gladly work with Janja when it benefits him, although the pair are not necessarily close. They have been known to argue in the past, such as in "The Kilio Valley Fire", where they and the other two animal leaders fought for leadership of Kilio Valley.
Mzingo used to hate Kion because he is a leader of the Lion Guard and would constantly defeat him in battle. Mzingo becomes part of Scar's army. After the guard goes into the Outlands to get a cure for Simba (has he had been poisoned by a scorpion), Mzingo helps trap the Lion Guard. However, Kion and Mzingo become allies and on good terms after he and his parliament happily agree to help defend the Pride Lands from Zira at Jasiri's request. Kion was thankful to Mzingo for his help. Mzingo helps the Lion Guard fight Vitani and her Lion Guard beleiving them to still be evil.
Fuli and Mzingo have been enemies ever since she learned that he was working for Janja. Mzingo has attempted to attack her at least three times. The first was was in "The Search for Utamu" when the vultures attempted to kill her only to be stopped by the Lion Guard, the second was in "Baboons!" when he tried to make her fall down "Mapango Cliffs", and the third was in "The Scorpion's Sting" when he and the rest of the Army of Scar trap her, the rest of the Lion Guard, and Makini.
Mzingo is aware of Fuli's strengths and weaknesses, though has still yet to defeat her, mostly due to the rest of the Lion Guard intervening.
By"Return to the Pride Lands", Mzingo is shown to have reformed, and agrees to help the Lion Guard defend the Pride Lands from Zira. He and Fuli are now on good terms.
Ono and Mzingo have been enemies ever since Ono realized he was working with Janja and later hit him out of the sky and into a bush.
The two birds despise each other as seen when he tries to and or hurt him in multiple occasions and whenever the two engage in any battle or spot one another, with Mzingo often losing it much to his dismay and hates it when he is unable to the stop the egret.
After Mzingo reformed, he and Ono are now on good terms. When the vultures agreed to help the Lion Guard stop Zira from invading the Pride Lands, the two former enemies worked well together and Mzingo openly found Ono's keen insight admirable.
After hearing how she and her brother were fighting when her parents attended a funeral at Kilio Valley, Mzingo saw an opportunity to cause havoc.
He manipulated the princess into believing that if she met Janja at Broken Rock at sunset, that he and Kiara could "make things work" for the Pride Lands. Kion, however, scolds her for trusting him because he knows that the Mzingo along with Janja are villains who cannot be trusted regardless of what they say.
However, it's revealed in Return to the Pride Lands that Mzingo and Kiara have bren on better terms since the Guard's absence.
Mzingo and Vitani were initially enemies because they each thought the other was evil. When Kiara explains to him that Kovu and Vitani have joined their pride, and Vitani realizes the hyeanas and vultures are friends of Kion and mean no harm to the Pride Lands, Mzingo and Vitani make peace.
Jasiri hates Mzingo. However when she became in charge of the Outlands he says that he'll start to follow the Circle of Life. In "Return to the Pride Lands" Mzingo was happy to see Jasiri back in the Outlands. He said that he'll help the guard fight in any way he can.
Mzingo hates Anga since she caught them while trying to put fire on the Pride Lands. She helped the Lion Guard fight the vultures. However, in Return to the Pride Lands, Mzingo reforms and Anga and Mzingo become friends.
He and Mwoga along with the rest of the vultures really wanna eat the baby baboon and his troop. While Fuli brings the baby back to his home she spots Mzingo circling around the grass. Fuli explains that the baboon is probably at home safe and sound. Later when they go to the cliffs the vultures try to attack the baby and the other baboons help Fuli by throwing fruit. After being stopped by Fuli the vultures fly away.
Makini first met the vultures when they helped set Scar's trap for her and the Lion Guard. When Scar orders the vultures to get the ash, Mzingo demands his vultures to attack her and helps them do so, hoping to obtain the ash and although he fails in doing so, Makini is now very aware of Mzingo.
After hearing that the royal family is hanging out at the hot mud pots. Scar orders Mzingo to set the place on fire. However Tiifu, Zuri, Kiara, Kion and Bunga escape by going through Muhangus' burrow.
Mzingo and Zira are enemies, and in fact he is afraid of her. When Zira threatened to attack the Pride Lands, he joins the Lion Guard's quest to fight her, only to find out that she is deceased. Mzingo knows she is just as bad as Scar.
Mzingo and Ushari were once friends. Since Ushari help Mzingo and his Parliament to take over the Pride Lands for following Scar's Plan and take down the Lion Guard. After Ushari's death, however, Mzingo finds out that Ushari is just as bad as Scar and hates him.
Reirei, Goigoi, and Dogo's Siblings are allies with Mzingo and they have worked on a few tasks together under Scar's orders including cornering the Guard and Makini, slowing the Guard down to get the volcanic ash, taking over Kilio Valley.