The lemur was found by a passerby in a residential area in the city on northern Jutland. In pictures published by TV2 Nord, the primate appears to be sitting calmly on a car roof under a carport. In other pictures, it has been caught and placed in a transport cage.
The small animal is believed to have been hungry.
The animal keepers managed to lure it into the cage with a banana, says Helle Justesen, communicator at Ålborg zoo, to TV2 Nord.
The lemur is believed to have escaped due to the hierarchy in the zoo's pack.
We believe what happened is that it was pressured by our alpha female, said head animal keeper Louise Møller Boye to the news agency Ritzau on Monday.
It's not the first time an animal has escaped from Ålborg zoo. Previously, a black panther, chimpanzees, a snake, and a toucan have managed to get out of the facility.