Hitomi Kanzaki, a high school student with an interest in tarot cards and fortune-telling, experiences a sudden and mysterious event that transports her to the world of Gaea, a fantastical realm where Earth is visible in the sky as a distant moon. Gaea is a land of conflict, where the Zaibach Empire seeks to expand its power through advanced technology and militaristic conquest. Hitomi soon encounters Van Fanel, the young king of the small kingdom of Fanelia, who pilots a powerful ancient mecha known as Escaflowne, a relic of the Draconian civilization. Van is determined to protect his people and resist Zaibach's aggression.

As Hitomi becomes entangled in the struggles of Gaea, her latent psychic abilities, including the power to foresee the future, begin to manifest. These abilities draw the attention of both allies and enemies, including the enigmatic Dilandau, the ruthless commander of Zaibach's Dragon Slayer army. Hitomi forms a close bond with Van, as well as with Allen Schezar, a charismatic knight from the kingdom of Asturia, who harbors his own personal motivations and a connection to Zaibach's schemes. The trio, along with other allies, embarks on a journey to uncover the truth behind Zaibach's ambitions and the mysterious origins of Escaflowne.

The narrative explores themes of destiny, war, and the interplay between science and mysticism. Zaibach's leader, Emperor Dornkirk, seeks to manipulate fate itself using a device called the Destiny Plan, which threatens to reshape the world according to his vision. As the conflict escalates, Hitomi's role becomes increasingly pivotal, as her abilities and emotional ties to Van and Allen influence the course of events. The story culminates in a climactic battle that challenges the characters to confront their fears, desires, and the consequences of their actions.

The series blends elements of fantasy, mecha, and romance, creating a rich and multifaceted narrative. The characters are driven by personal struggles and growth, with Hitomi's journey from an ordinary teenager to a key figure in Gaea's fate serving as a central arc. Van's determination to protect his kingdom and his evolving relationship with Hitomi add emotional depth, while Allen's internal conflicts and loyalty to his ideals provide additional layers to the story. The Vision of Escaflowne weaves together a tale of adventure, self-discovery, and the enduring power of hope amidst chaos.