Seisen Cerberus: Rjúkoku no Fatalite

Sword and magic rule in the continent of Kuna'ahn. Also residing there is the feared "Evil Dragon" Daganzord, an unstoppable force that leaves nothing but scorched land and destruction wherever he goes. Hiiro's parents, Bairo and Kismitete, joined other sorcerers in a magic ritual ten years ago in an attempt to seal Daganzord, but failed when someone interfered. After being rescued by Giruu, young Hiiro set out to learn swordsmanship so that he could avenge his parents... (Crunchyroll)