天保14年（1843年）在高知城下，年幼的龍馬（濱田龍臣飾）是一位讀書、劍術都學不來的愛哭鬼。在土佐藩嚴格的身分制度下，龍馬和岩崎彌太郎（渡邊甚平飾），都受到不平等的待遇。

有一天，龍馬激怒了上士而差點被斬殺，幸得母親阿幸（草刈民代飾）的極力挽救，而倖免於難。但母親阿幸也為此病情惡化，而不幸過世。

幾年後的龍馬（福山雅治飾），長得高拔英挺，並將母親最後的遺言，深深的記在心中..

嘉永5年（1852年）龍馬（福山雅治飾）向父親八平（兒玉清飾）提出想要到江戶的心願，但父親卻命令他去當堤防工程的工頭。武市（大森南朋飾）和彌太郎（香川照之飾）也都想去江戶，但也因為個人因素而無法成行。

有人到加尾（廣末涼子飾）家提親，讓困擾不已的加尾終於向龍馬告白。另一方面，堤防工程因百姓之間的爭議，而遲遲無法依進度進行，為此龍馬感到非常的煩惱。父親八平在私底下，默默的觀察龍馬的計畫，並給予暗中支持...

被准予到江戶修行劍術的龍馬（福山雅治飾），和溝渕廣之丞一起從高知出發。此時岩崎彌太郎（香川照之飾）突然出現，因為他也得到去江戶旅行的通行證，但因為沒有錢，而希望能跟龍馬一起去。

留在土佐的武市半平太（大森南朋飾），也聚精會神的鑽研劍術。加尾（廣末涼子飾）對龍馬的思念，卻無法割捨。在四國的最後一個檢查站，彌太郎所持的旅行通行證，被揭發是偽造的...

龍馬（福山雅治飾）與溝渕（皮耶瀧飾）終於到了江戶。一心謹記父親教訓的龍馬，並未隨著溝渕到處玩耍，而是馬上到千葉道場去拜見師父千葉定吉（里見浩太朗飾）。龍馬並當場與定吉之女佐那（貫地谷詩穗梨飾）較量，沒想到會輸的龍馬十分震驚，從此更加潛心鑽研劍術。

在學習中龍馬與佐那的距離也慢慢拉近，發現佐那已經不太一樣的定吉，告訴佐那她已經不可能再贏過龍馬。而不得不承認自己是女人一事，讓佐那十分不服氣，決心找龍馬較量，結果果然敗在龍馬手中。

而就在這時候，美國的艦隊靠近浦賀，讓江戶的人民驚慌失措…

美國提督培里率艦隊來日本，要求日本開國通商，而這個黑船騷動讓日本舉國震驚，也讓人民開始對執政250年的德川幕府權威，感到質疑。

龍馬（福山雅治飾）和桂小五郎（谷原章介飾）親眼目睹黑船後，震驚之情溢於言表。從此龍馬時時刻刻都在想黑船的事，甚至懷疑刀劍如何對抗如此龐大的軍艦。而這件事也終於讓龍馬忍不住對千葉定吉（里見浩太朗飾）說出刀劍無用的話，結果被定吉逐出了道場…

龍馬（福山雅治飾）和桂小五郎（谷原章介飾）兩人親眼目睹黑船後，非常吃驚，甚至不知該如何是好。龍馬也離開了千葉道場，一心想找到答案。

龍馬突然想到小五郎的老師松陰（生瀨勝久飾），希望能見他一面，得到答案。但此時的松陰正想搭小船上黑船去美國看看，小五郎和龍馬趕來阻止。原本龍馬也想和松陰一起去美國，但被松陰一巴掌打醒，讓龍馬決定重回道場磨練自己...

龍馬（福山雅治飾）回到土佐，讓坂本一家都非常高興。但龍馬的父親八平（兒玉清飾）身體卻出現狀況，八平知道自己已經來日無多，但他非常擔心龍馬能否有一番成就。

這時候半平太（大森南朋飾）在土佐召集有志之士，成為攘夷派的領袖，對龍馬所說的黑船等事一點也不關心，一心只想驅逐外國。這時龍馬與彌太郎（香川照之飾）認識了河田小龍老師，龍馬從小龍那裡得知很多歐美的事，也終於找到了自己心中的答案...

龍馬（福山雅治飾）的父親八平（兒玉清飾）過世，由哥哥權平（杉本哲太飾）擔任家督。一日龍馬巧遇彌次郎（蟹江敬三飾）遭惡霸村長痛毆，於是出面制止，但彌次郎已身受重傷。

在江戶的彌太郎（香川照之飾）接獲消息，日以繼夜的趕回土佐，發現父親遭受奉行不公平的判決。心有不甘的彌太郎前去申訴，卻老是被拒門外。後來才知道，原來奉行收受村長的賄賂才有所偏袒。於是龍馬與彌太郎決定去向蟄居中的吉田東洋（田中泯飾）申訴…

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