It has been several years since the existence of magic, which was thought to be a supernatural power existed only in fantasies, had been accepted as reality. Since then, many things such as Magic Calamities, lurking monsters, the incorporation of magic into scientific civilization, and the existence of another world's civilized society 「Roa」 happened as if the world itself refused to remain at peace. Chaos did not only occur in the world but also in Roa as well. The person who is responsible for the kingdom's security and acts as a symbol of justice is Queen Tearna Lilian Transylveil. However, a person claiming to be Tearna's son from the future of a parallel world has shown up. The son's name is Kiel and his supposed father is Metzer Heinkel, the man who almost achieved world domination and is responsible for the current destruction and chaos but sealed away. Due to Kiel wishing to follow his father's path of evil, many start to be suspicious of Tearna's authority. While Roa's security is shaken, Keel breaks Metzer's seal made by the Mahou Senshi (Magical Warrior) and releases his father. As a result, the feeling of distrust on Tearna grows larger, and the Loan regime is in the dagnger of collapsing. In order to restore peace to both the world and Roa, Tearna once again throws herself into the battlefield as Mahou Senshi Eternal Tear.