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It's one of the most prolific and successful video game franchises. Several of its iterations were named among the greatest games of all time. It's influenced countless other games as it defined the action-adventure genre.

We're talking about The Legend of Zelda series, of course. Since , Zelda games consistently received amazing marks from critics and fans alike. But what makes this series so popular? What make individual games in the franchise stand out?

Unsheathe your swords, we're taking an in-depth look at the history of Zelda by examining all 19 main games. Whether you've joined Link for every adventure or you're curious about all the fuss, let's enjoy walking through the Zelda games together.

Notes:

• Years of release are given for the North American versions of the games. In many cases, the Japanese versions launched first.
• Many titles were re-released on Virtual Console or other platforms. We only discuss major remakes in this article, such as Ocarina of Time 3D on the 3DS.
• GB stands for Game Boy (C for Color and A for Advance), GCN stands for Nintendo GameCube, and NDS is Nintendo DS.

The Legend of Zelda (NES, )

The original Legend of Zelda was birthed from the past experiences of legendary game designer Shigeru Miyamoto. Miyamoto explained that as a boy, he would explore the natural world around his home and stumble across lakes, caves, and more. He designed Zelda so that players would feel a sense of that exploration. And that's exactly what it did.

While the other NES breakout hit, Super Mario Bros., was all about a linear path from left to right, Zelda let players go anywhere. After pressing Start, you don't have to follow a pre-set path. In fact, even getting the sword in the first cave is optional -- players have reached the final boss without it. In any order you choose, Link must explore eight dungeons to recover pieces of the Triforce of Wisdom, a sacred relic.

This first game set several series standards. Collecting new items in dungeons, finding heart pieces to extend your life energy, and battling monsters are all present in nearly every future game. Zelda was also notable for being the first home console game to feature a battery save system, meaning that players didn't have to remember a password to continue playing later.

Future Zelda games would steer away from the open-world exploration of the original, but one thing was clear: Link's journey was far from over.

Zelda II: The Adventure of Link (NES, )

When looking back on the Zelda series, you'll notice that many people point to Zelda II as the outcast of the series. And in many ways, this is true. The first Zelda sequel featured new elements like earning experience points for defeating enemies, side-scrolling areas that involved some platforming, and limited lives. No game after this has returned to the light-RPG style of the deviant Zelda II.

Zelda II is also noted for its difficulty, thanks to one-hit kill pitfalls and tough enemies. But that doesn't mean it had nothing to give to the series. This installment saw the first use of the magic meter for special attacks, the shadowy Dark Link, and non-playable characters (NPCs) having a role in giving Link quests and help.

Those who have enjoyed newer Zelda games may be confused and off-put by Zelda II, perhaps when they tried it on their NES Mini. But that doesn't mean it's a bad game, just different.

At this point, the series hadn't quite fallen into a solid pattern yet, so the experimentation made sense. But with the next game, Nintendo struck a design paradigm that would stick with Zelda for years.

A Link to the Past (SNES, )

The theme of A Link to the Past is this: everything the original game did, do it better. A more fleshed-out story had Princess Zelda contact Link to begin his quest, and sages around the world explained more about Hyrule. The map was fleshed-out and helped keep your bearings. More weapons led to better methods of travel and combat. In essence, A Link to the Past is one the titles that best defines what it means to be a Zelda game.

Players were introduced to the Dark World, an alternate reality where Hyrule was twisted and more dangerous. A Link to the Past also marked the first appearance of the Master Sword, the Blade of Evil's Bane. An engaging world and dungeon design and a perfect level of polish meant that this game was much more accessible than the NES titles. You didn't have to wander around at random because the game pointed you in the right direction without shoving you.

With an engaging core story and secrets that begged you to explore, A Link to the Past took 2D Zelda to its peak and is still loved today. You'll be able to play it on the upcoming SNES Mini, too.

Before the series made the revolutionary jump to 3D, Nintendo launched another 2D game to mark Zelda's handheld debut.

Link's Awakening (GB, )

In , the Mario series saw its first handheld title in Super Mario Land for Game Boy. It was well-received, prompting many to wonder if Zelda could make a similar transition. That came with Link's Awakening, which was also a success.

But it's a strange game in the series for several reasons. It doesn't take place in the land of Hyrule. The setting is instead Koholint Island, where a magical beast known as the Wind Fish sleeps. Link is told that collecting eight special musical instruments from the island's dungeons will wake the Wind Fish and let him escape. The Triforce is nowhere to be found, and even Mario characters like Goombas and Yoshi make appearances.

Despite the Game Boy's limited screen size and lack of buttons, the game is still fantastic. The setting and characters are so different from a normal Zelda game that it provides a fresh experience for longtime players.

Nintendo released an updated version, Link's Awakening DX, for the Game Boy Color in This featured color graphics and an exclusive new dungeon that relied extensively on the color display, among other enhancements. You can download it now on the Nintendo eShop.

Ocarina of Time (N64, )

When you hear Zelda, you probably think of this game -- and that's for good reason. Ocarina of Timeis the most critically-acclaimed video game of all time, and considered by many as the pinnacle of the Zelda series. Along with Super Mario 64, it helped usher in the era of proper 3D games thanks to its intuitive lock-on system that helped players navigate brand-new 3D worlds.

I could write an entire article about this game, so we'll keep it brief. Suffice it to say that Ocarina of Time translates many into 3D of the elements that make A Link to the Past such a solid title, and adds so much more. A coming-of-age story where Link and Zelda's actions as kids result in Ganondorf taking hold of the world seven years into the future -- and having to fight in that future -- is amazing.

It's a lengthy adventure with great dungeon design, a variety of items and sidequests, and fantastic pacing. Every 3D action-adventure game since has been influenced by this title, and it paved the pattern for the next decade-plus of Zelda games. Everyone on Earth who wants to experience one of the finest and most important titles in the sphere of video games simply must play it.

And perhaps the best way to do that is with the enhanced remake, Ocarina of Time 3D on the 3DS. Aside from the neat 3D effect that's non-essential, the game features improved visuals, easier equipping of items thanks to the touchscreen, and the revamped Master Quest that features more challenging dungeons. It also makes small quality-of-life tweaks such as adding assistance to the infamous Water Temple.

Majora's Mask (N64, )

The next 3D title, Majora's Mask, looks remarkably similar to Ocarina of Time. That's not a coincidence -- Shigeru Miyamoto wanted the team to create the alternative Master Quest that swapped the dungeons in Ocarina of Time, but series producer Eiji Aonuma was reluctant. Thus the two parties agreed to create a new Zelda game in a year. To save time in development, many of the characters and other assets from Ocarina were re-used.

And while Ocarina is a definitive Zelda title and accessible for newcomers, Majora's Mask is one of the most derivative games. Set in the land of Termina, it centers around a town doomed to be crushed in three days' time by a falling moon. The player must solve troubles for the town residents while also branching out in the four compass directions to find the dungeons and purge them of evil.

The gameplay centers around masks that give Link new abilities, and features more sidequests than any other Zelda game at the time. Instead of simply reciting lines, every resident of Clock Town feels alive as they have schedules that repeat every day. At the end of the game's three-days (about an hour in real time), Link has to avoid the moon by playing the Song of Time on his ocarina to jump back to the first day and continue the quest.

Majora is notably darker than most other Zelda games, and the repeating three-day cycle is off-putting to some. However, it makes for a unique Zelda game, and arguably one of the most clever games of all time. It's commendable that the developers crafted an intricate world with reused assets and a Groundhog Day-esque cycle.

Like its N64 counterpart, Majora's Mask was re-released on the 3DS as Majora's Mask 3D. This version features several changes, including redone graphics, changes to the save system to account for playing on a handheld, and a new fishing mini-game.

Oracle of Seasons and Oracle of Ages (GBC, )

Link's second outing on a handheld was actually split into two games: Oracle of Seasons and Oracle of Ages. Unlike the Pokemon games, which release two games (Sun and Moon) with a few minor differences, Seasons and Ages are two completely different games. And in a first (and rare) move for the series, they actually weren't developed by Nintendo. Capcom created this pair of games.

In Oracle of Seasons, Link travels to Holodrum where the Oracle of Seasons is kidnapped. He receives the Rod of Seasons, the game's central item, and can use it to switch the world between the four seasons at will. For instance, if you don't have the flippers that let you swim yet, swapping from summer to winter will freeze a lake and allow you to cross. Seasons focuses on action, so the challenge in its dungeons come from tough enemies.

Oracle of Ages, the other game, sees Link in Labrynna, where the Oracle of Ages is possessed by the game's antagonist. Using the Harp of Ages, Link can travel between the past and the present at will. For example, in one area, the Zora king has passed away in the present, so you must travel to the past and give him medicine when he's sick. Ages, as opposed to its sibling, has a focus on puzzles. Thus its dungeons feature less intense combat and more head-scratching.

The developers originally intended to create three interconnected games which you could play in any order. Since this was too tough to implement, they cut it down to two. But Seasons and Ages still feature connectivity. After finishing one game, you'll receive a password for the other game. The second game you play will feature some changes, such as characters that remember you from the other title. After you complete the main quest of the second game, you can proceed to the final area and complete the true ending.

Four Swords (GBA, )

In , Nintendo published a port of A Link to the Past for the Game Boy Advance. It's largely the same (aside from a few minor text changes and gameplay differences). The biggest chunk of new content came with the cartridge's entirely new game, Four Swords. This marks the first time a Zelda game ever had a multiplayer mode.

Four Swords is a fairly short game in which two to four players cooperate and compete at the same time to complete randomly-generated dungeons. After Link pulls the Four Sword from its resting place, it creates three copies of himself that each player can control. You have to work together with the other players to solve puzzles, but the player who collects the most rupees is rewarded.

Unfortunately, playing Four Swords requires everyone involved to have their own Game Boy Advance and a copy of the game. You also need a Game Boy Advance Link Cable to connect each system. Because of this, even if you had the A Link to the Past cartridge, you might not have played Four Swords.

That might explain why Nintendo decided to release an enhanced version of the game, titled Four Swords Anniversary Edition. This version allows you to play in single-player mode and control two Links on your own. It was available on the DSiWare service for the Nintendo DSi and 3DS for free between September and February After A Link Between Worlds released, Four Swords again became free on the eShop for a few days in early Nintendo hasn't made it available since.

The Wind Waker (GCN, )

Perhaps one of the most controversial installments in the franchise, The Wind Waker shocked Zelda fans with its cartoony, cel-shaded graphics (and an amazing soundtrack to match). Some people loved the new look, while others thought it was stupid. Thus Wind Waker, like several other Zelda games, had some critics upon release but is often looked back on as one of the best games in the series.

The Wind Waker takes place in a flooded Hyrule, where sailing is your main method of navigation. Because of this mechanic, after you've played some of the game's early bits, the world really opens up and lets you sail to plenty of optional islands. It's a Zelda for explorers for sure. Like Ocarina, music plays a huge role. The titular Wind Waker is a baton that lets Link control the wind direction, take control of allies, and more.

While Wind Waker featured excellent expressions for Link and plenty of treasure hunting, it did feature some tedious elements that were fixed in The Wind Waker HD remaster for the Wii U in The new Swift Sail item lets Link sail faster and automatically changes the wind direction so he doesn't have to constantly adjust it with the Wind Waker. A lengthy quest at the end of the game was also cut down considerably. Like most of the re-releases of Zelda games, it's the best way to play the game for newcomers.

Four Swords Adventures (GCN, )

Four Swords Adventures is a sort of expanded sequel to Four Swords. It shares a similar story and the multiplayer element with that game -- in fact, it's the only console Zelda that has multiplayer as a focus. But this one is completely playable in single-player mode. Unlike other Zelda games, Four Swords Adventures is broken up into bite-sized levels instead of featuring a seamless world.

If you play this one by yourself, you control four Links at a time. You can quickly send them into various formations, such as a cross or line, for ease of movement and attack. It's fully playable with just a GameCube controller alone.

However, with two to four players, each one controls their own Link and must use a Game Boy Advance connected to the GameCube with a Link Cable. All players play on the same TV screen. However, when they enter a cave or building, gameplay shifts to their Game Boy Advance display. Like Four Swords, you're working together to complete puzzles and rescue the Maidens while also competing for the best score.

Four Swords Adventures, like its predecessor, is an odd Zelda game. It's far from the best one, as its episodic gameplay leads to a just-OK single-player experience. It would cost a lot to buy enough Game Boy Advance systems and Link Cables to experience multiplayer, though.

The Minish Cap (GBA, )

Another handheld Zelda developed by Capcom, The Minish Cap features a graphical style similar to The Wind Waker and continues the story of the Four Swords games. This time, Link's hat is actually a magical creature named Ezlo. This allows him to shrink down to a microscopic size and explore the world from the perspective of the Picori, a race of tiny people.

As you can imagine, this mechanic results in some interesting gameplay shifts. A harmless water droplet for full-size Link is a fatal obstacle when he's the size of an ant. Many of the dungeons and puzzles revolve around Link's tiny size. Size-changing when exploring results in an engaging world. Another new gameplay is the Kinstones, medallions Link can collect that when fused with a matching stone from another character, can yield items and even new sidequests.

The Minish Cap is an excellent handheld Zelda title. It's often forgotten among the giants of the series, but you shouldn't miss it.

Twilight Princess (Wii, GCN; )

For Zelda fans, Twilight Princess was a hotly-anticipated game. The Wind Waker had left many clamoring for a more realistic, mature Zelda, and this looked like the one to satisfy that craving. In a notable first for the series, Twilight Princess released on two consoles. The game was originally designed for the GameCube, but with the Wii on the horizon, Nintendo delayed the game and released it on the Wii as a launch title in November The GameCube version came just under a month later.

Twilight Princess is a much more typical Zelda game. Its version of the alternate world is the Twilight Realm, a world of darkness inhabited by shadow beings. When Link is dragged into this realm, he transforms into a wolf. With the help of Midna, a Twilight inhabitant who knows Princess Zelda, Link fights to turn back the Twilight and restore Hyrule.

Interestingly, the Wii version of Twilight Princess marks the first time Link has ever been right-handed. When developing the GameCube version, Nintendo had Link left-handed as he'd always been. But since the Wii Remote allowed players to actually swing to attack with the sword, they wanted Link's handedness to match the majority of most players. Thus the developers mirrored the entire game world for the Wii version.

In , Nintendo released Twilight Princess HD, an enhanced remaster on Wii U. It features better graphics, control improvements thanks to the Wii U's gamepad, and a few tweaks such as shortening the lengthy introduction sequence. This version uses the original GameCube orientation of the world.

Phantom Hourglass (NDS, )

Link's first foray onto the Nintendo DS came as a direct sequel to The Wind Waker. Like that game, Phantom Hourglass has you sailing around the oceans of Hyrule and exploring new islands. Although not quite as expansive as the GameCube title, it's still a solid adventure.

Phantom Hourglass utilities the DS's touch screen for nearly all its controls. Moving Link, swinging the words, and using items are all accomplished using touch-screen controls. Some purists aren't' fans of this, but the controls don't take much effort to get used to as the game is built around them.

Another use of the touch screen comes from the game's map. The player can bring the map to the touch screen at any time and draw on it to make notes. This helps you remember where an out-of-reach treasure chest was, or lets you take note of safe paths through dangerous areas.

One of the major criticisms of Phantom Hourglass is the game's central dungeon, the Temple of the Ocean King. You're required to visit it several times throughout the game to open more of the sea, and each time you must descend deeper through floors you've already visited. Even though your newly-acquired items let you open up new shortcuts and progress quickly, some players found it tedious visiting this dungeon so many times.