老爷爷和老奶奶没有孩子，某一天，他们在河边看见一只桃子顺流而下，两人捞起桃子切开，却发现里面有一个小婴儿呱呱坠地，他们收养了婴儿，给他取名桃太郎（佐佐木望 配音）。随着时间的推移，桃太郎越长越大，成为了一个活泼的小子，他即将开启属于他的奇幻旅程。爱财如命的富家少爷金太郎（渡边久美子 配音）、曾到过传说中的龙宫做客的浦岛太郎（草尾毅 配音）、骑着巨龙的龙太郎（中村大树 配音）、身材虽小但充满了智慧的一寸法师，一路上，善良热情的桃太郎结识了这些有趣的伙伴们。他们齐心协力，前往鬼岛，目的只有一个，那就是除掉作恶多端的鬼王。
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