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The story is set in an era when 70% of the human race lives in space due to the development of space cities. Between two major powers-the Dorushia Military Pact Federation and the Atlantic Ring United States (ARUS)-there is a small neutral nation called Jiouru that has prospered economically. The protagonist Haruto, a high school student who lives in Jiouru, encounters the mysterious "forbidden" humanoid weapon Valvrave when the Dorushia army invades.

The city of Tokyo has been overthrown, taken over by the Mu, invaders who have devastated the rest of the planet. Within the domed walls of the city, however, time flows in a different path, and none of the citizens even know they've been conquered. Outside Tokyo, the remnants of the human race have fought a desperate 15-year war against the Mu, knowing only that the key to victory lies within the occupied city. But no one has been able to get into Tokyo"until Ayato Kamina, a young resident fleeing a horrifying attack on the city, unwittingly breaks out. An extraordinary mystery unfolds as Ayato confronts a world he has never known, and begins to learn the horrifying secrets of RahXephon, a humanoid super weapon which apparently only he can control.