Se desio di fuggir vi sprona e move
I rai del sol estivi,
Saggi amici Pastori,
Tutti lieti e festivi
De prati uscite fuori
E, lasciando gli'Armenti
A pascere l'herbette e i fiori intenti
E da Lupi sicuri e d'ogni belva,
Venite a ricrearvi in questa Selva.

In English the lyrics of the madrigal mean something like:

If your wish to escape from the rays of the summer sun moves you,
wise shepards,
then let's happily
leave the meadows,
letting heards
eat grass and flowers
without the danger of wolves,
and have rest coming into this forest.

Thanks to Andrea Friggi for the English translation.