The first Saint Seiya manga was written and illustrated by Masami Kurumada and was published by Shueisha in the magazine Weekly Shōnen Jump from January 1986 to December 1990 and collected in 28 tankōbon volumes. The series has three main parts: Sanctuary (volumes 1 to 13), Poseidon (volumes 14 to 18), and Hades (volumes 19 to 28). Volume 13 also contains a separate short story called "Blue Warriors". The series is licensed in English in North America by Viz Media. Viz released the first collected volume of the series on January 21, 2004, and as of June 3, 2008 twenty-three volumes have been released.

In addition to the original tankōbon volumes listed below, the series has been reissued four times. The first reissue as 15 bunkoban volumes in 1996 is called the "Deluxe Version". The bunkobon edition was reissued in 2001 with additional color images as the "Library Version". The series was rereleased in 2003 in 19 volumes with Setteis from the anime adaptation, and called the "Remix Version". The fourth reissue, in 22 volumes and called the "Complete Version", contains additional colored pages as well as colored armor schematics. In addition, the "Remix Version" was republished at the end of 2007 to coincide with the broadcast of Chapter Elysion of the anime.

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