The Four Cardinal Heroes are a group of ordinary men from modern-day Japan summoned to the kingdom of Melromarc to become its saviors. Melromarc is a country plagued by the Waves of Catastrophe that have repeatedly ravaged the land and brought disaster to its citizens for centuries. The four heroes are respectively bestowed a sword, spear, bow, and shield to vanquish these Waves. Naofumi Iwatani, an otaku, becomes cursed with the fate of being the "Shield Hero." Armed with only a measly shield, Naofumi is belittled and ridiculed by his fellow heroes and the kingdom's people due to his weak offensive capabilities and lackluster personality. As the Waves approach the kingdom, Naofumi and Raphtalia must fight for the survival of the kingdom and protect the people of Melromarc from their ill-fated future.

With another Wave happening in a week, Naofumi Iwatani and his party have no time to waste. However, when bat familiars raid Lurolona Village and the Wave countdown comes to a halt, the Four Cardinal Heroes reconvene with the queen, Mirelia Q Melromarc, for a quick briefing. The queen presumes that the odd occurrences are linked to the Spirit Tortoise—a threatening creature that has awakened from its slumber, back to cause havoc once again. A plan to put the Spirit Tortoise to rest is devised—but out of the four men, only the cursed Shield Hero agrees to help.

After defeating the Spirit Tortoise, Naofumi has no time for rest. An attack from the next Guardian Beast is imminent, but the three other Cardinal Heroes have gone missing. So, Naofumi and his party set out to search for the legendary trio.