Is Cobra The Animation hentai?
No
Rated R+ (Mild Nudity) on MyAnimeList and not tagged as Hentai.

TV · 2010 · 13 episodes · R+ - Mild Nudity
Action, Adult Cast, Adventure, Sci-Fi, Shounen, Space
This Cobra adaptation features short arcs of Cobra saving the world, his friends or himself.
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