In the far-distant future, Captain Malcolm "Mal" Reynolds is a renegade former brown-coat sergeant, now turned smuggler & rogue, who is the commander of a small spacecraft, with a loyal hand-picked crew made up of the first mate, Zoe Warren; the pilot Hoban "Wash" Washburn; the gung-ho grunt Jayne Cobb; the engineer Kaylee Frye; the fugitives Dr. Simon Tam and his psychic sister River. Together, they travel the far reaches of space in search of food, money, and anything to live on.

The story revolves around a futuristic theme park staffed by robots that can help guests live out their fantasies. The park breaks down, however, and two guests taking a Wild West adventure find themselves stalked by a gun-slinging android.