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.