Mazinger Angels follows the exploits of four women who pilot giant robots in the style of Mazinger. The concept parodies the popular TV series Charlie's Angels from the late 1970s and early 1980s. Three of the robots, Aphrodite A, Diana A, and Minerva X, originate from the original Mazinger Z series, whereas Venus A comes from the Great Mazinger series. Their pilots are also established characters from Go Nagai's universe: Sayaka Yumi and Jun Hono from Mazinger Z and Great Mazinger, respectively, along with Hikaru Makiba and Maria Fleed from Grendizer. The manga's style emphasizes the sex appeal of both the characters and the mechas, occasionally resembling the depiction of female characters in Aika.