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Hiro Hamada is a 14-year-old robotics genius who lives in the futuristic city of San Fransokyo and spends his time participating in back-alley robot fights. His older brother Tadashi, worried that Hiro is wasting his potential, takes him to the robotics lab at his university, where Hiro meets Tadashi's friends, GoGo, Wasabi, Honey Lemon, and Fred as well as Baymax, a personal healthcare robot Tadashi created. Amazed, Hiro decides to apply to the school. He presents his project—microbots, swarms of tiny robots that can link together in any arrangement imaginable—at an annual exhibition to gain admission. Professor Callaghan, head of the program, is impressed, and Hiro gets in. The President of Krei Tech, a prestigious robotics company, Alistair Krei tries to buy the technology from him. Callaghan successfully advises Hiro against trusting him. When a fire breaks out at the university, Tadashi rushes in to rescue Callaghan, but the building explodes and both are killed. As a result of losing his brother, Hiro secludes himself from others.
One day, Hiro accidentally activates Baymax, who follows one of his microbots to an abandoned warehouse. There, the two discover that someone has been mass-producing Hiro's bots; they are attacked by a masked man who is controlling the bots. Realizing this man has stolen his project, Hiro decides to catch him, and upgrades Baymax with armor and a battle chip containing various karate moves. After the masked man attacks Hiro, Baymax, GoGo, Wasabi, Honey Lemon and Fred, Hiro develops superhero suits for everyone and they form a superhero team. Fred believes the masked man to be Alistair Krei, and thinks that he started the fire to steal the bots after Hiro refused to sell them. Convinced, the group then starts to investigate Krei Tech.
The group discovers a former lab of Krei Tech that was experimenting with teleportation technology. The test went awry when the test pilot vanished inside an unstable portal. The masked man is revealed not to be Krei, but instead Professor Callaghan, who stole Hiro's bots and used them to escape the fire. Realizing that Tadashi died in vain, Hiro angrily removes Baymax's healthcare chip, leaving him with only the battle chip, and orders him to kill Callaghan. Baymax almost does so until Honey manages to insert the healthcare chip back in, restoring Baymax.The others refuse to help Hiro, with Wasabi stating that they never agreed to become killers. Angry at his friends, Hiro goes home, and breaks down when Baymax asks him if killing Callaghan will make him feel better. To soften Hiro's loss, Baymax plays multiple humorous clips of Tadashi running tests on him during Baymax's development. Hiro realizes that killing Callaghan is not what Tadashi would've wanted and makes amends with his friends.
The group discovers that the test pilot was Callaghan's daughter Abigail; Callaghan is seeking revenge on Krei whom he blames for his daughter's death. Callaghan attempts to kill Krei with the reactivated portal. The team foils the plan by destroying the microbots, but the portal remains active. Baymax detects life signs of Abigail, and he and Hiro rush in to save her. On their way out, Baymax's armor is damaged and he realizes the only way to save Hiro and Abigail is to propel them back through the portal with his rocket fist. Hiro refuses to leave him, but Baymax insists until Hiro tearfully gives in. Hiro and Abigail make it back, while Callaghan is arrested.
Sometime later, Hiro discovers Baymax's healthcare chip (which contains his entire personality) clenched in his rocket fist. Delighted, he rebuilds Baymax and they happily reunite. The six friends continue their exploits through the city, fulfilling Tadashi's dream of helping those in need.
During the end credits, it is shown through newspaper headlines that Hiro has been awarded a grant from the university and a building is dedicated to Tadashi. In a post-credits scene, Fred accidentally opens a secret door in his family mansion and finds superhero gear inside. His father, a retired superhero arrives, stating that they have a lot to talk about as they embrace.
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