The story is about the future of 200 years, when humans colonize the solar system. Due to the influence of gravity, the humans in the solar system gradually split into Earthlings, Martians, and Ceres, who are mainly in the asteroid belt. The relationship between them becomes tense due to the competition for resources. Detective Josephus Miller (played by Thomas Jane) together with Captain Jim Holden (played by Steven Strait) and his crew uncover a conspiracy that threatens order, peace and human survival.