故事以18世紀的歐洲為舞臺，在當時的義大利某小鎮上，有著日本血統的孤兒天馬和喜愛繪畫的亞倫是摯友。某日亞倫受到大聖堂的神父 (睡神修普諾斯) 的指引，去到一處被稱為「地面上的極樂淨土」的地方尋找「真實之紅」。在那裡亞倫遇到了一個叫「潘多拉」的神秘女性，自此亞倫的身體就開始發生了變化。另一方面，受到天秤座的黃金聖鬥士童虎的引薦，天馬決定前往希臘聖域接受聖鬥士的訓練。在聖域，天馬遇到了兒時的青梅竹馬薩莎。幾年前被人收養的薩莎，原來竟然是女神雅典娜的轉世。在2年之後，天馬終於成為了天馬星座的聖鬥士。另外一方面，受到潘多拉引導的亞倫，體內的冥王哈迪斯的靈魂覺醒，並向聖域發動全面進攻……
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