Dar (Daniel Goddard) is the last survivor of his tribe. He wanders the lands seeking his lost loved one, Kyra (Natalie Jackson Mendoza), protecting the oppressed and the animals. His friend Tao (Jackson Raine) � a fearful, psychology-attracted young man � helps him in his quest; Tao is a scholar and a medicine man. Dar meets another orphaned warrior named Arina (Marjean Holden) who joins his quest for her own reasons, but eventually becomes a faithful companion. The world of the Beastmaster is full of lost tribes, genocide appears to be common, and all three of these characters are the survivors or last survivors of lost tribes.
The series also featured Monika Schnarre as the Sorceress, apprentice to the Ancient One, played by Grahame Bond, Emilie de Ravin as the Forest Demon named Curupira, and Sam Healy as Iara, the Demon of Water and Serpent. The regular human enemy of Dar, King Zad, was played by Steven Grives. Marc Singer, the Beastmaster from the original film, appears in the third season as Dartanus, the Spirit Warrior who helps Dar on his quest.
The general story arc of the series is that the world is changing, civilization is advancing, technology is gaining ground slowly, the old orders of magic and sorcery are fading, and the world is threatened by the supernatural being Balcifer, the Dark One, played by Jeremy Callaghan. Dar is the son of King Eldar, who was destroyed by Balcifer. To defeat Balcifer Dar must locate and reunite his family, who have been turned into animals to hide them from Balcifer, in the Crystal Arc.
Balcifer's agent on Earth is King Zad, who is first King of the Terrons, a savage tribe that enslaves and pillages at will. Later, when the tribe is destroyed by King Voden leading a group of Viking-like northerners, Zad re-emerges as the King of Xincha, the city at the center of the world (and Tao's former home). He has deposed Voden, who fled into the wilderness at the end of the second season. There is a contrast there between the crude savage badness of King Zad and the refined, insane evil genius of King Voden. Zad emerges from the contest a more civilized but still savage character.
The series was very action-oriented at the beginning, but as the first season wore on, it began to take on a pacifistic and naturalist tone. The opening/ending music and soundtrack of the series was composed by Graeme Coleman.