It was an anime original. Also had a novel adaptation if I remember correctly, but no manga that I ever heard of. It was a pretty alright series I guess; kinda nonsensical by the end, but likeable characters. Not super great for yuri shipping; Yuri (the character), who most of the potential came from, was kinda messed up (as you can see from this doujin). I think I ended up still shipping her with Momoka by the end, though.
Mawaru Penguindrum's one of the rare series which I ended up watching at least partially for a male character/a het pairing, namely Kanba/Kanba x Himari. I got pretty into it while the series was airing, in the end I guess I'd recommend watching it. The OP was also godly. I tend to prefer manga to anime as well, but at least for major original works like this (it's Ikuhara after all, definitely not your average anime) I wouldn't let that stop me.