SpongeBob and Patrick go to a medieval knight-themed restaurant called "Medieval Moments" to see a joust (and, for Patrick, eat mutton). The king, or announcer, must select two from the audience who can participate in the tournament. SpongeBob and Patrick are mistaken and think the king is choosing those to watch the fight at close range, so they are eager to sign up. When they understand that they are in danger, it is already too late. The two are selected to fight against each other on sea horses, and SpongeBob's and Patrick's horses are already running together.
The two friends fly out of the castle. They land hard on the ground as they are surrounded by knights who are holding SpongeBob, presumably employees from the restaurant. They are arrested for "falling out of the sky" and end up in the dungeon. There they meet Squidly, an ancestor of Squidward. He was thrown into the dungeon, as he used to be the jester for King Krabs (an ancestor of Mr. Krabs) but Squidly's performance is not very flattering. Squidly explains that the Bikini Bottomshire is in danger because the evil Planktonamor, an ancestor of Plankton, has released a dragon jellyfish on the land destroying everything.
SpongeBob and Patrick finally see that they really landed in the Middle Ages. A dungeon master orders the two to come to King Krabs. They do not want to go without Squidly. Squidly says that he has devised better songs, which he is bound to present to the king. When the three arrive at the king, and Krabs is indignant, as SpongeBob greets him without kissing his feet. Squidly introduces his new song, but Krabs is offended because the song says the king is to blame for the destruction of the city. The three are to be beheaded.
Princess Pearl (an ancestor of Pearl) points out to her father that SpongeBob and Patrick resemble the two characters from a prophecy that a sponge and starfish fall from the sky and save Bikini Bottomshire from Planktonamor. But while Pearl is explaining, the dragon jellyfish suddenly breaks into the castle. It abducts Pearl and throws Krabs, who wants to save his daughter. Krabs remembers the prophecy and sends SpongeBob, Patrick, and Squidly to Planktonamor to save his beloved daughter. So run the three. To fight against Planktonamor, the three need weapons and equipment. They want to get the necessary equipment from a blacksmith.
SpongeBob, for whom the weapons are too heavy, just takes a jellyfishing net. Planktonamor, who can spy the three with the aid of his talking crystal ball (an ancestor of Karen), is not happy. However, he still thinks they are not a real danger to his plans. When the three heroes are finally at the gate of Planktonamor's castle, they discover the dark knight, who only lets them go when they can defeat her. The dark knight reveals her head and is clearly an ancestor of Sandy. SpongeBob uses a bit of karate, and defeats the knight after a short but intense fight.
Sandy now wants to accompany the three and help them save Pearl so that SpongeBob can teach her a bit of karate. To get into Planktonamor's fortress, Sandy smuggles the three prisoners into the tower. Since Princess Pearl is hanging on the top of the tower, the four of them climb up the stairs. Completely out of breath, they finally reach the top floor, but Planktonamor is already calling the dragon jellyfish.
SpongeBob, however, defeats the jellyfish with his net by catching it. Meanwhile Sandy frees the princess. The jellyfish block does not last long, however, and the dragon jellyfish destroys it with an electric shock. The jellyfish drives SpongeBob and Patrick into the corner and they are already preparing for their death - Patrick proposes a last snack. SpongeBob thinks this is a good idea and takes out a Krabby Patty, which he has as a supply of. The jellyfish smells the burger and eats one. Suddenly, the jellyfish looks totally tame, so SpongeBob gives her even more patties.
Planktonamor is angry and screams at the jellyfish, but this leads the jellyfish to shock him. The jellyfish is tamed and Pearl is saved. Back in Bikini Bottomshire, there is a great celebration in honor of the great heroes who fell out of the sky. Squidly plays the clarinet, but is so bad that the seahorses shake, on which SpongeBob and Patrick sit. The two are catapulted away. SpongeBob finds himself back at Medieval Moments and realizes that he has only dreamed of it all. But Squidly is suddenly there in the real Bikini Bottom. Was it a dream?
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