If you're looking for manga similar to Ys II: Castle in the Heavens, you might like these titles.
Despite her tender age, 15-year-old Lina Inverse is already a master sorceress, known throughout the land for her skills and power... and the fact that her heroic deeds are usually more destructive than the foes she battles against! Teamed with Gourry Gabriev, a swordsman supreme who is dumb as a stump, Lina travels the land in search of fame, fortune and free food.
Thirty years after the Demon Wars, peace has returned to the land of Lodoss-but darkness looms. After defending his village against a horde of goblins, a headstrong young warrior named Parn sets out on a quest to restore his father's honor and save the realm. Joining Parn are Deedlit the high elf, Slayn the wizard, Etoh, a fledgling priest, Ghim, a grizzled dwarven warrior, and Woodchuck, a wily thief. Along their journey, Parn and his companions discover an evil witch who, for eons, has been manipulating events from the shadows. Can this ragtag party of heroes defeat the all-powerful Grey Witch and prevent Lodoss and its kingdoms from descending into total chaos and destruction?
Knight Spark becomes the Duke of the vacated island Marmo and begins a relationship with Neese. He has to battle new foes and the still-living dark wizard Wagnard, now the vampiric King of the Undead, to keep control of his domain and avoid another sweeping war on Lodoss.
The wizard Agahnim abducts Princess Zelda and confines her in the dungeon of her own castle. She telepathically cries out for help and her pleas are answered by a boy named Link. The two escape the castle together, but Link's adventures are only just beginning. He must find the legendary Master Sword and save the land of Hyrule from Agahnim's tyranny!
Link receives a telepathic message in a dream one night from Princess Zelda, pleading for help. She's been abducted by a wizard and locked in the dungeon of Hyrule Castle. When Link awakes from his dream and finds that his uncle has also disappeared, he sets out to find out what is going on. Little does he know that rescuing the imprisoned princess is only the beginning of his quest!
A young paladin, Deane goes on a quest to discover what has become of his older brother, the druid, Shiva, who embarked on the quest of the Avatar some years ago. Along the way he meets a variety of new friends and eventually comes to learn the truth about who he is and what he is fated to become.
In a world consisting of many floating islands, a young man named Gran has dreamed of taking to the skies and exploring them since his father disappeared years ago, leaving a message for his son to meet him at Estalucia, Island of the Astrals. When a mysterious girl named Lyria literally falls out of the sky trying to escape the evil Erste Empire who held her captive, her life becomes entangled with Gran's and his long-awaited journey finally begins. Together with their companions, former imperial soldier Catalina and the baby dragon Vyrn, they take to the heavens, exploring the many mysteries of their world while trying to avoid being captured by their enemies.
Long ago, in ancient times, strength was everything. A demon, who governed the darkness with lessons of steel, ruled the lands. It was an era called Zeteginea.
After the defeat of Zanaffar, Lina, Gourry, Zelgadis, Amelia, and Pocota, the prince of Taforasia, continue their hunt for Rezo’s urn, each with their own motivations for doing so. Pocota to revive his people from Rezo’s well-intentioned sleeping spell, and Zelgadis to regain his former body. However, something deeper is circling around the intrigue behind Rezo’s urn, and all will come to a head in the bustling city of Vezendi.