Arus is a planet inhabited by a humanoid species, although other species, such as the Space Mice, are represented as part of the planet's population. Arus is also the homeworld of Princess Allura and home base of the Voltron and the Voltron Force.
Voltron: Defender of the Universe
For some time the indigenous people of Arus worshiped Voltron.
Arus society was rather similar to the Earthlings. The people of Arus have had a long standing alliance with Earth.
Voltron Force (TV series)
Voltron: Legendary Defender
An Earth-like planet the Castle of Lions resided on for at least 10,000 years, prior its rediscovery by the human Paladins. It is home to the Arusians, a race of short, bipedal creatures with a vague resemblance to salamanders/snails.
Unlike prior continuities, in V:LD Arus is not the natal homeworld of Allura, Coran, and their people. It is unknown if the planet was a colony, protectorate, or simply the nearest available landing place for the Castle of Lions, though the presence of courtyard and elevated walkways seems to indicate one of the former.