Sixteen-year-old Joe Maya lives in a Martian prison colony with his father, Matthew Maya, convicted of involuntary manslaughter and serving his sentence there with his son. Orphaned of his mother young, Joe cherishes fond memories of Earth and fiercely desires to return, fueling his rebellious streak against military authority. Standing 180 cm tall with brown spiked hair and dark blue eyes, he favors dark blue ninja-style clothes, a red and black mesh shirt, brown fingerless gloves, boots, and typically carries a dagger and handgun. His Black Lion mecha piloting suit is primarily black with red accents.

Fleeing Martian military police with friend Mike Coil leads Joe to the crashed Rodarian ship Elshank (Xenos 5). Attacked by Zaboom forces, he accidentally activates and pilots the Black Lion mecha. During this battle, the ninja robot Tobikage (Cybertron) appears, merging with the Black Lion to defeat the enemy, forcing Joe, Mike, and childhood friend Jenny Ai onto the Elshank. They agree to aid Princess Romina Rodario against the Zaboom army. Joe's motivations shift from personal rebellion against Mars' Commander Hazzard Pascha to rescuing his kidnapped father and Jenny's parents, informing Earth of Hazzard's betrayal, and ultimately liberating Romina's home planet, Ladorio.

Impulsive and defiant of authority, Joe champions a "live free" philosophy, often resulting in rash choices and clashes with Elshank commander Irubola Saro. Yet, he demonstrates fierce loyalty to friends and family, protecting them at personal risk and refusing to compromise his principles. He shares a strong brotherly bond with Mike, defending him steadfastly, and has a complex relationship with Jenny, treating her casually and teasing her about admirers before becoming jealous when suspecting Mike's interest. Joe develops immediate romantic feelings for Princess Romina upon meeting her, frequently clashing with her subordinate, General Icelander, over this attraction and their opposing personalities, creating unresolved tension among Joe, Jenny, and Romina. Near the series end, Joe confesses love to Jenny, while his feelings for Romina persist.

As the primary Black Lion pilot, Joe relies on Tobikage's interventions in critical battles, employing a daring combat style exemplified by infiltrating enemy strongholds like C-Terahertz as a prisoner. Later, he permanently unifies with Tobikage via his dagger, transferring Black Lion piloting duties to Damian, a guerrilla fighter from Mars' north pole. Joe's skills include marksmanship and proficiency with wheeled, hover, and flight vehicles, honed preparing for Martian military trials. In the finale, he and Icelander temporarily set aside their enmity, uniting to power the Elshank during a crisis.