Blue Ivy, who makes her feature film debut in Mufasa: The Lion King, will voice the character Princess Kiara, who first featured in the animated Disney sequel The Lion King II: Simba’s Pride.

“Mufasa: The Lion King” enlists Rafiki to relay the legend of Mufasa to young lion cub Kiara, daughter of Simba and Nala, with Timon and Pumbaa lending their signature schtick. Told in ...