Is Queen's Blade: Utsukushiki Toushi-tachi hentai?
English title: Queen's Blade: Beautiful Warriors
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

OVA · 2010 · 6 episodes · R+ - Mild Nudity
Action, Adventure, Ecchi, Fantasy
Queen's Blade OVA. Contains short stories from the lives of the warriors after the Queen's Blade competition.
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