The titular princess is a leader in humanity's Imperial Army during its battle against the demonic Hell-hordes. One day she, and her talking sword Excalibur, known as 'Ex', are captured. Now she will have to face the Hell Lord's chief torturer; Torture Tortura and her assistants. One might expect things to get rather unpleasant but this torturer employs rather unconventional methods... instead of inflicting pain she entices the princess to give up vital secrets by offering her delicious food! Her assistants use equally unconventional methods. Soon the princess almost considers them friends and rather enjoys her new life, much to Ex's consternation.
I really enjoyed this series. Yes it is all rather silly and a bit repetitive but it provides plenty of laughs in every episode. The characters are a lot of fun and one never really believes that anything unpleasant might happen despite the constant references to torture. I liked the character designs, especially the somewhat cute 'villains'. Overall I'd certainly recommend this to anime fans wanting some light-hearted silliness.
These comments are based on watching the series in Japanese with English subtitles.