If you're looking for anime similar to Battle Girls: Time Paradox, you might like these titles. All recommendations are made by Anime-Planet users like you!
Half a year has passed since Muneakira and his busty, battle-savvy friends fought valiantly in a fierce battle, and now, Muneakira is returning to Yagyuu Dojo after embarking on a journey to train his skills. But little did the man expect that Yukimura, Jubei and the rest of the gang would have turned the dojo into a maid café! What's more, past foes have been resurrected, and they have their sights set on Jubei. With new girls – and animals – to make contracts with and action at every turn, life at Yagyuu Dojo is more exciting than ever.
Both series feature girls in a fantasy world with mostly medieval technology. Both series are not afraid to portrait their female characters in only their undergartments and both series have about the same general quality and depth to their characters. If you managed to like either I'm sure you could manage to like the other somehow.