Hitomi Kanzaki is a typical 15-year-old schoolgirl who enjoys tarot cards and fortune-telling, but one evening, a boy named Van Fanel appears from the sky alongside a vicious dragon. Thanks to Hitomi's premonition, Van manages to slay the dragon, yet a pillar of light engulfs them both, transporting Hitomi to the world of Gaea—a mysterious land where the Earth hangs in the sky.
In this strange realm, Hitomi learns that Van is a prince of the Kingdom of Fanelia, which is soon attacked by the evil Zaibach Empire. To fight back, Van pilots his family's ancient guymelef, Escaflowne—a mechanized battle suit—but fails to repel the attack, and Fanelia is destroyed. Forced to flee, Hitomi and Van meet a handsome Asturian knight named Allen Schezar, whom Hitomi is astonished to discover looks exactly like her crush from Earth. With new allies at their side, Van and Hitomi resist the forces of Zaibach as the empire seeks to revive an ancient power.