Gitene Ninfe sù gl'herbosi prati
E voi Pastori amati
E tu Damone lascia i car'Armenti
E al suon de nostr'accenti
 
E ghirlandette de piu vaghi fiori
Tesset' à la mia Clori
Prendila e seco men' alte carole
Che te sol bram' e vuole
 
Poi che le die d'Amore
Bellezza tal che pò rapire il core
E di dolcezz' ancor trar l'alma fuore
 
E noi farem' in tanto
Per allegrezza risonar le valli
Al dolce suon de pletri canti e balli.

In English the lyrics of the madrigal means something like:

Let's walk, Nymphs, on the meadows,
And you, dear shepards,
And you, Damon, leave the dear flocks.
And with the sound of our voice
 
Let's us make festoons with the most
Beautiful flowers for Clori.
Take her and sing loud songs
For she loves and desires only you
 
And because Love gave her
Such beauty that can steal your heart
And, with sweetness, also your soul.
 
And in the while
We shall make every valley sound
- With the sweet sound of the strings - songs and dances.

Thanks to Andrea Friggi for the English translation.