The world we live in is called Earthside in this story. There are the other worlds called Nosfertia, Heavenstia, and Eternalia. When Darknoids from Nosfertia begun invasion to Earthside, Heavenstia sent 3 Animanoids (beast-humans) to prevent it. The lead character Touya had believed that he was a mere human but found he was actually a being of Eternalia. With the help of 3 Animanoids, Touya fights to defend Earthside.
Manga