The Robinsons meet a space traveler who turns out to be an Earth man, Alonzo P. Tucker, who was abducted from Punxsutawney, Pennsylvania, by aliens, in 1876. Tucker befriends Will by telling tall tales about being a pirate, but it turns out that he is only an ordinary man being pursued by aliens because he has stolen a mind reading device from them. Tucker returns the mind reading device to his alien pursuers, saving the Robinsons in the process.

Dr. Smith is conscripted as the leader of a people from another world. Little does he know that the leaders of these people are routinely sacrificed and replaced with other expendible leaders. Smith is just one of a long line of sacrificed rulers.

Dr Smith, Will and the Robot discover an old harp under a carved out rock. They discover that in playing the right tune, it unlocks a passage to another world. In travelling here, Dr Smith meets an alien who believes to be the devil, and believes the place to be Hell. When he leaves, and the Alien shows up on the planet, Dr Smith is frightened. Judy befriends the alien, and is accidently taken to the other world. It is up to Don and John to save her, and finally Dr Smith realises it is not hell, and merely a prison world for a criminal.

Will and Dr Smith are confronted by a knight, who says he is on a quest to seek out and destroy the beast Gundemar. Penny, meanwhile, meets Gundemar and befriends her. Will becomes the pageboy of the knight. When it is discovered that the beast is woman, the knight is unsure whether he can still kill it, leading him to question his life's future.

Alonzo P. Tucker returns, this time more in keeping with the pirate character he tried to create in his first appearance. This time Tucker is searching for Billy Bones' treasure, and is using the head of Billy Bones, which is kept in a box, to help him find it. He has three cutthroats with him, and he has to find the treasure and keep the cutthroats from endangering the Robinsons. Tucker's robotic bird is back again, and continues to torment the robot.

Dr Smith and Will become trapped in a cave during a cosmic storm. Will is accidently pulled through a cosmic time warp, and ends up on Earth, in Scottish castle. He meets a headless ghost called Hamish who was beheaded at the Castle. Hamish is trapped there due to the callous crimes he has committed. They rest of the family manage to get Will out, but Hamish follows him. They decide to re-create the time warp, and send Hamish home, and with him Dr Smith, carrying star-charts and maps so that he may send a rescue mission to save the Robinsons. Upon re-entering the warp, Dr Smith drops the charts, and Will runs after him to give them to him. They are both taken. When they reach the castle again, Dr Smith and Will realise that they are not in their time. Also, Hamish becomes angry when he realises that Dr Smith is a liar, and has no intention of helping the Robinsons. As an act of reveng he sets out to destroy Dr Smith. In the end, Will and Dr Smith return to the planet, and Ha