The first season's opening credits has Zenigata chasing Lupin's gang across a desert, accompanied by five vignettes that focus on each character:
- Lupin breaks into Fujiko's bedroom
- Jigen shoots down an airplane
- Fujiko machine-guns down a shooter behind a door
- Goemon slices a plane in half
- and Zenigata continues to chase Lupin.
The second season's opening credits are a stylish OO7-esque sequence featuring Lupin and his gang performing their functions (Lupin driving his car, Fujiko with a machine gun, Jigen shooting down a sniper, Goemon slashing a building open), while Zenigata chases them.
The fourth season's opening credits is set in a jazzy cabaret performance:
- Lupin performs some tricks with cards and balls, and especially on Zenigata
- Jigen makes a split-second appearance
- Goemon performs a dance in Japanese costume
- Fujiko appears in various dresses
- Zenigata takes part in a puppet show hosted by the gang... who promptly run away from him.
The closing credits feature Fujiko riding her jeep across a beach at sunset.
The third season's opening credits are a montage of Lupin and his gang showing off their skills (Lupin at a pool table, Jigen shooting a grape off a bunch, Fujiko dancing, Goemon cutting down an opponent), while Zenigata chases them.
Unlike most other Japanese animated TV series (or American, for that matter,) the main cast is credited by name and character at the beginning of the show.