The Muse is asked to tell the story of Ulysses, a hero who traveled extensively after Troy, lost his men due to their folly (eating Hyperion's cattle), and now is detained by Calypso.
Gods, except Neptune, pity Ulysses.
Neptune is angry because Ulysses blinded Polyphemus.
Gods discuss Ulysses' return to Ithaca at a meeting in Jove's house.
Minerva goes to Ithaca to encourage Telemachus to confront the suitors and seek news of his father.
Minerva, disguised as Mentes, advises Telemachus to call an assembly, denounce the suitors, and seek information about Ulysses from Nestor in Pylos and Menelaus in Sparta.
Telemachus welcomes Minerva and discusses his father's absence and the suitors' behavior.
Minerva assures Telemachus of Ulysses' eventual return and encourages him to take action.
Minerva departs, inspiring Telemachus, who recognizes her divinity.
Penelope asks Phemius to stop singing of the Achaeans' ill-fated return, but Telemachus asserts his authority and defends man's domain is in speech.
Telemachus confronts the suitors, announcing a formal assembly and their eviction.
The suitors mock Telemachus, but he asserts his intention to seek news of his father.
Telemachus retires for the night, contemplating his voyage and Minerva's counsel.
BOOK II
Telemachus convenes an assembly to address the suitors' misconduct and his father's absence.
Aegyptius speaks first, recalling Ulysses' departure and questioning the purpose of the sudden assembly.
Telemachus speaks, lamenting the loss of Ulysses and the suitors' drain on his estate.
He calls for action and justice.
Antinous blames Penelope for the suitors' prolonged stay and demands she choose a husband.
Telemachus refuses to force his mother to leave and insists the suitors leave, promising to appeal to Zeus.
Zeus sends two eagles as an omen, interpreted by Halitherses as Ulysses' imminent return and doom for the suitors.
Eurymachus dismisses the omen and threatens Halitherses.
Telemachus requests a ship and crew to seek news of Ulysses, prompting Mentor to criticize the Ithacans' inaction against the suitors.
Leocritus dismisses Mentor's speech and ends the assembly.
Telemachus prays to Minerva by the sea, seeking aid for his voyage.
Minerva, disguised as Mentor, assures Telemachus of her support and makes preparations for his voyage.
Antinous mocks Telemachus' plans for a ship and crew.
Telemachus prepares for his voyage, securing wine and barley meal with the help of Euryclea.
Minerva enlists a crew and borrows a ship from Noemon, ensuring favorable conditions for Telemachus's departure.
The suitors are cast into a slumber, and Telemachus sets sail with Minerva in disguise.
BOOK III
Telemachus and Minerva arrive at Pylos, where the Pylians are sacrificing to Neptune.
Minerva advises Telemachus to approach Nestor confidently.
They are welcomed by Nestor and his sons.
Pisistratus offers them hospitality and gives Minerva precedence in prayer.
After the feast, Nestor asks about the strangers' identities and purpose.
Telemachus seeks news of Ulysses, prompting Nestor to recount tales of the Trojan War and the Achaeans' return.
Nestor recalls the quarrel between Agamemnon and Menelaus and the varied fates of the returning heroes.
He tells of Agamemnon's murder by Aegisthus and Orestes' revenge.
Nestor advises against lengthy travels and encourages Telemachus to seek out Menelaus for more information.
Minerva reveals herself as a goddess and departs, causing wonder among the Pylians.
Nestor sacrifices a heifer to Minerva and prepares Telemachus for his journey to Lacedaemon.
Telemachus and Pisistratus travel by chariot to Pherae, where they are hosted by Diocles, then continue to Lacedaemon.
BOOK IV
Telemachus and Pisistratus arrive in Lacedaemon and are welcomed by Menelaus.
Menelaus recounts his travels and laments the loss of Ulysses.
Helen recognizes Telemachus' likeness to Ulysses.
Telemachus explains his purpose: to seek news of his father.
Helen recounts Ulysses' cunning during the Trojan War, recalling when she recognized him in Troy.
Menelaus tells of the Old Man of the Sea's prophecy, detailing the fates of several Achaean leaders, including Agamemnon and Ajax, and Ulysses' detainment by Calypso.
He advises Telemachus to seek Zeus (Jove) and offer sacrifices for a swift journey home.
Telemachus prepares to leave, declining horses for a mixing-bowl.
Meanwhile, the suitors learn of Telemachus' voyage and plot his ambush.
Medon informs Penelope of their plan.
Penelope mourns, seeking Minerva's help.
Minerva sends a dream of Iphthime (Penelope's sister) to reassure her.
The suitors set sail to ambush Telemachus and their plan does not go unnoticed.
BOOK V
Gods convene, Minerva pleads for Ulysses' release from Calypso.
Jove sends Mercury to Calypso, ordering that poor Ulysses be provided with the means to leave.
Mercury delivers Jove's message to Calypso on Ogygia.
Calypso is resentful but complies, aiding Ulysses in building a raft.
Ulysses departs Ogygia on his raft.
Neptune stirs up a storm, wrecking Ulysses' raft.
Ino gives poor Ulysses a veil for protection.
Ulysses swims towards Scheria, land of the Phaeacians.
Minerva calms the seas.
Ulysses lands on Scheria, exhausted and naked.
Protected by an olive thicket, he makes a bed of leaves and sleeps.