Is Panyo Panyo Di Gi Charat hentai?
No
Rated G (All Ages) on MyAnimeList and not tagged as Hentai.

TV · 2002 · 48 episodes · G - All Ages
Comedy
Deijiko is the princess of the planet of Di Gi Charat. After reading a book, she is influenced to want to help everyone be happy. She leaves the castle and pretends to be a normal girl. She tries to make everyone happy by taking various jobs around the town and thereby making all sorts of new friends and inevitably, enemies. (Source: ANN)
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