The series focuses on PaRappa, a cute and happy dog who enjoys music and dancing and often spends time with his friends PJ Berri, Katy Kat, and the girl of his dreams, Sunny Funny. Along with various characters who make returning appearances from the video games, the anime introduces several new characters who are exclusive to the TV series. These include Matt Major, PJ's friend from Club Fun, Paula Fox, Sunny's friend who was rivals with Katy, Pinto, PaRappa's little sister, and Gaster and Groober, a villainous duo who cause all sorts of mischief.

A série se concentra em PaRappa, um cachorro fofo e feliz que gosta de música e dança e costuma passar o tempo com seus amigos PJ Berri, Katy Kat e a garota dos seus sonhos, Sunny Funny. Junto com vários personagens que fazem aparições nos videogames, o anime apresenta vários novos personagens que são exclusivos da série de TV. Isso inclui Matt Major, amigo de PJ do Club Fun, Paula Fox, amiga de Sunny que era rival de Katy, Pinto, irmã mais nova de PaRappa, e Gaster e Groober, uma dupla vil que causa todo tipo de travessura.