The Legend of Dragoon takes place on a world referred to in-game as "Endiness". Its aesthetic resembles the Middle Ages with fantasy elements such as swords, magic and dragons. The world contains a variety of species including Humans, Dragons and Winglies. Humans live as farmers while Dragons look like winged creatures and possess Dragon Spirits. Winglies are an aggressive species who are able to fly and enslaved humans 10,000 years before the start of the game. Humans became Dragoons by obtaining the help of Dragons to defeat the Winglies and, at the time of the game's events, live in relative peace.
