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A crack team of pilots are selected by the Galaxy Alliance to travel to Planet Arus and uncover the secret of a weapon from ancient times - Voltron! Keith, Lance, Sven, Hunk and Pidge arrive too late, the planet has already been completely devastated by the evil forces of King Zarkon. They engage in battle with Zarkon's general Yurak, only to be captured and thrown into the dungeons on Planet Doom.

Keith and the space explorers take the first steps on their journey to revive Voltron. They find the legendary Royal Castle on the surface of Planet Arus. Inside, they meet Princess Allura and the wise Coran. The Princess declares them to be the planet's new guardians. Together, they unravel the mystery of Voltron's disappearance.

Keith, Lance, Sven, Hunk and Pidge ask for help from the Princess Allura to find Voltron. With guidance from the ghost of her father, King Alfor, they find four of the five keys needed to form Voltron. With no choice, they head into battle with only their robot lions to keep back Doom's soldiers.

Keith and the team scour the surface of Planet Arus, looking for brave citizens willing to help fight Zarkon. Scared due to the recent attacks, only Princess Allura herself is willing to join Voltron Force. When King Zarkon's best gladiator is turned into a Robeast by Haggar, not even Voltron can stop it. Only if Allura can find a way to help will Arus be saved.

The team uncovers the key to the Black Lion, just as King Zarkon's Robeast is about to rain havoc on Planet Arus. Together, they are able to form Voltron's most powerful weapon, the Blazing Sword!

Yurak's attack fleet is soundly defeated by Voltron. Haggar comes up with an evil plan to get Voltron out of King Zarkon's hair for good. She sneaks up to the Voltron Force while they are handing out food to the troubled people of Arus. Haggar isolates Sven from the others and badly wounds him. Without Sven, Keith and the team must face Zarkon's new Robeast without Voltron's power!

Yurak's fleet shoots down a spaceship over planet Arus. Hunk manages to rescue the pilot, a pretty young slave who escaped from Planet Doom. The Voltron Force is skeptical, but Hunk has faith in her story. That night, the escaped slave breaks into the Castle of Lions' ammunition storage under orders from King Zarkon and plants a deadly bomb!

After escaping from Planet Nemon, Jai seeks out Princess Allura and the Voltron Force to help save his home. Nemon is under the thumb of Tabor, a nephew of King Zarkon. The evil lord himself has come to celebrate his birthday, but Voltron is coming to crash his party.

Princess Allura puts the whole team in jeopardy when she tries to pilot the Black Lion without permission. Seeing no way to make it up to her friends, she surrenders herself to Prince Lotor in exchange for the freedom of Planet Arus. Enchanted by her beauty, Lotor accepts. But Keith and the Voltron Force have a plan of their own.

A girl named Iris was raised as a killing machine by Haggar. Later in Iris teenage years, she travels without Haggar finding the white lion near a small castle in altai.

When Yurak takes a village hostage, the Voltron Force is forced to surrender. A little girl from the village named Tammy sees her mother taken captive along with the others. Trying to get help, she ends up inside the Green Lion. Pidge, in a desperate attempt to save the rest of the team, switches places with Tammy!

After watching the Voltron Force defend her kingdom again and again, Allura is determined to help. However, her Nanny has returned to the Castle of Lions, and is equally determined to keep the Princess out of trouble. When Nanny gets caught up in a raid by King Zarkon, Allura must pilot the Blue Lion to save her!

The mysterious Prince Bocar appears and saves Princess Allura. He seems to be the perfect replacement for Sven as a new pilot for the Blue Lion. But when Lance realizes that Bocar is not what he seems, the evil Prince escapes with the Blue Lion and Allura as his prisoner!

Princess Allura's Aunt Orla comes to visit her at the Castle of Lions. Allura's loyal space mice seem to reject Orla, as if sensing something that the others can't. The team becomes suspicious when they spot Haggar's cat attacking the mice, but they can't do anything if the Princess doesn't believe them.

The Voltron Force successfully grounds Yurak's fleet for the last time. King Zarkon is ready to banish Yurak, but then his son, Prince Lotor, returns from his journey of conquest. Prince Lotor turns Yurak into a Robeast, and then challenges Keith to a duel. With Keith away from the team, they are forced to fight Yurak without the help of Voltron!

When Zarkon denies Lotor the power of his whole army to attack Arus, Lotor tries to take his power from him by besting him in combat, but fails and acts humble enough to have his life spared. Haggar convinces them to put aside their personal disagreement for the moment since she reveals she's built a Robeast with a frame slightly resembling Voltron's and directed by a robot pilot to conquer Arus. Arus' defense-system is destroyed just after it shows what approaches, and the Voltron Force discover their opponent will not easily be beaten. Voltron is forced to fight while growing weaker and weaker as he is damaged by the strong machine, and the Blue Lion that is the main power-source as his Right Leg faces possible destruction.

Haggar creates many miniature-robots disguised as tadpoles to invade Arus since they will thrive in water which Voltron would otherwise not wish to enter. Two siblings collect some to study at home with Pidge's help, and he takes some himself. That night, a group of mutant amphibian-like creatures attack a ship and the children's home. Though they easily destroy the ones in the castle, the Voltron Force's attempt to destroy those out at sea proves more than the usual challenge when a larger robot arrives as well, and damages the Green Lion so Voltron also leaks when formed.

Lotor causes a near-hurricane to strike on Arus, forcing the Voltron Force to go out and round up civilians to shelter in the castle. One boy refuses to go without giving a reason. Since he holds a rabbit, Pidge believes he has stolen it, especially since he says he found it in a trap, which are illegal on Arus. Pidge attempts to fight him then starts to pursue him into the woods - until his own ankle is caught in a snare. The boy, Tommy, releases him before they witness Zarkon's robots poaching. Pidge isn't strong enough to return on foot and when he tries to relay the news through radio, an "earthquake" like one seen earlier destroys it. The divide created by the storm is occupied by something, and the two journey down to examine it. Lotor discovers them and reveals his giant bomb of enough force to destroy all of Arus (except Allura, whom he secretly plans to evacuate). They have no way to contact the rest of the Voltron Force, but to let anyone else know it exists, must escape where Lotor has them bound to the activated weapon.

Lotor sends Haggar's small human-looking "Red Beret" robots to frighten the Arusians. As planned, the people soon fall into panic, to the point where they blame Allura for not being able to protect them. Lance and Pidge note the volcano that the beings landed near looks as though something is being dug out of it. However, they are called back to the others to restore order before they can discover what is is. They're just in time, though, to see the Red Berets strike by throwing transformed volcanic dust on the Black Lion and paralyzing it. Though this is their last attack, the Robeast following them will make short work of the others without Voltron there to stop them.

Haggar locates and takes control of the Omega Comet, a legendary black-hole-like structure which crushes and destroys anything in its path, and sends it for Arus. Though Voltron redirected it once after a decade of trying, the Voltron Force are forced to race against time to move it themselves after they get Romelle's warning. Seeing Allura's cousin's loyalty to them, Lotor mentions that a certain control-function will help them in front of Romelle, and she relays the information to them. But it was a trap Lotor had her lure them into, and they crash-land and are stranded upon the comet without power. The Galaxy Alliance can send no reinforcements thanks to Zarkon's fighting. But Bandor goes against orders to stop guarding the power-supply he was posted in front of to repay his comrades. The Voltron Force cannot escape, and conclude that Bandor must use his arsenal to strike the comet away from Arus - though they know it means self-sacrifice.

Bandor remains near the Omega Comet, desperately trying to contact the Voltron Force that everyone believes are lost, with no success. Coran, supporting him, is forced to stand alone with his men against Lotor's latest raid on Arus. Coran made it so Bandor's ship, attached to Voltron, actually gains strength through the connection. The tie, however, severs when one of Zarkon's attacking fighters strikes it, resulting in the Omega Comet shooting out of control and Bandor's crew tumbling off alone. The Voltron Force approach the end of the universe, where a mysterious voice offers that they can now enter a place of peace and contentment, but as the price would no longer be able to support Arus...

Lotor sets up on the Sand Planet, with Haggar's plans to transform the thriving, small, pure natives into robotically-charged menaces. Coran's friend, Professor Sarwa, contacts the Voltron Force with the news and calls them to come help just before he disappears on his study-tour there. They meet him and are charmed by the amusing Sand People. But Lotor arrives and uses nature against them to prevent them from taking a group hostage, and transforming them to fight his enemies as well.

The one who approaches Romelle after her being forced into the Pit of Skulls is a young, wild-eyed man who warns her of the approaching guards that come down to ensure she is finished, and helps her into a passageway through a cave but then vehemently bids her leave him. She is able to identify him as Sven, but the former pilot of the Blue Lion has lost his faith in himself, feeling remorse over his defeat by Haggar and his inability to aid Planet Ebb when it was attacked when he was hospitalized, and is nearly mad with grief after witnessing so many brutalities every day. Romelle tries to convince Sven to help her get off Doom and contact the Voltron Force so she can return to and defend Pollux as only she knows how, with the help of a group of slaves who are desperate for their own freedom and could be what they need to help them escape...

Zarkon orders Lotor to conquer a world he has just discovered, knowing that Voltron will arrive with the intention of freeing the people that will be enslaved there. Haggar plans to increase the planet's gravity so that Voltron's actions will be ineffective against her own robotic menace. Four young children are more determined to see their planet freed by whatever way they can and have more belief in Voltron than their parents. They try to take Lotor prisoner but are captured instead. They are used by Voltron's enemies to let the Voltron Force know of the situation after all. However, they are powerless to warn them of the danger that will be faced during the planned rescue.

Yadle, an unattended colony-planet of Zarkon's, declares itself independent and prepares to celebrate along with its allies, the Voltron Force. Haggar creates a Voltron look-alike to subdue its people with Lotor's guards before it will be used to attack the real robot. A young friend named Bobby goes to guide the Voltron Force to Yadle to get through Zarkon's magnetic field. However, they have yet to be warned that they are awaited by a robot that has all their powers and the ability to know what maneuvers they will perform even before they carry them out.