Kings is set in the nation of Gilboa, which technologically and culturally resembles the present-day United States; the government, however, is an absolute monarchy. Gilboa is ruled by King Silas Benjamin, who originally formed the kingdom two decades prior from three warring countries. He believes his power to be divine, often citing a day when a swarm of butterflies landed on his head in the form of "a living crown." All is not well for Silas: his policies and actions are being manipulated by his queen's brother, William Cross, who holds substantial control over the royal treasury; his heir, Prince Jack, is secretly homosexual, which could undermine the royal family; and Silas himself is secretly seeing a mistress, whom he had apparently left in order to marry Queen Rose for political gain.

Events of the series are set into motion when young David Shepherd, a Gilboan soldier in a war against the kingdom of Gath, single-handedly rescues a group of captive soldiers from behind enemy lines. One of these captives is Prince Jack, and David becomes an instant star in national media, much to the chagrin of the prince. King Silas brings David into the capital city of Shiloh, where he is promoted to captain and thrust into the position of military liaison to the media. He soon finds himself in the midst of royal court politics, currently with little awareness of the forces acting behind them; he also develops feelings for Silas' daughter, Princess Michelle, which she seems to reciprocate. In the pilot episode, he too experiences the "crown" of butterflies, after Silas is told that God no longer supports his reign, implying David to be the divine choice for the next king in line.