Is Ginga Kikoutai Majestic Prince hentai?
English title: Majestic Prince
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV · 2013 · 24 episodes · PG-13 - Teens 13 or older
Mecha, School, Sci-Fi, Seinen, Space
In the latter half of 21st century, humans leave the Earth and begin to live in space. In order to adapt to the environment in space and deal with the hostile aliens in Jupiter, genetically engineered children called "Princes" are artificially raised and trained to be pilots of armed robots "AHSMB (Advanced High Standard Multipurpose Battle Device). This is a story about one of the teenage "Princes," Hitachi O Izuru, who studies in an academic city Grandzehle. (Source: MAL News)
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