Set on a distant planet called Arus, Voltron was called upon for defense against evil King Zarkon and Prince Lotor, as well as the witch Haggar, from their Robeast creations that terrorized the planet.

The Voltron Lion Force pilots consisted of Commander Keith Kogane, Lance Charles McClain, Darrell "Pidge" Stoker, Sven Holgersson, and Tsuyoshi "Hunk" Garett. Sven was later removed from the team due to a mortal wound, and replaced by Princess Allura. When called upon, the Lion Force team would assemble into Voltron in a dramatic scene within each episode. By clasping his hands together and pulling outward, Voltron would materialize his massive sword and prepare for battle. .