Touch of Sea

Princess Allura of Altea has only ever known the palace and her father's strict rule. And all she has ever wanted is to know the ocean.
Matt Holt has always longed to explore the ocean and find the treasure that his father hid before he disappeared. And then his younger sister disappears and his father's old friend appears, offering to help.
Lance McLain as always longed to see the human world and be with the legged folk. So when he is kidnapped by a pirate king asking for his help to find a magical treasure, he agrees.
Keith Kogane wants to find love, even if it's with the annoyingly cheerful mermaid his captain kidnapped. But his captain has a dark plan for the mermaid.
Shiro didn't ask for the princess to get wrapped up in his quest for revenge. Yet she did, and she can help him find the cursed treasure.
Adam only wants to find the missing princess and return to his role as a palace guard. But quiznack, the pirate king sure is hot.
Mallura, Klance, Adashi! It's a Voltron Pirate Au!