Deep within the lush confines of the Peruvian jungle, Dora (Isabela Moner), the spirited daughter of explorers Cole (Michael Peña) and Elena (Eva Longoria), immerses herself in daily adventures alongside her loyal monkey companion Boots, her cousin Diego (Jeffrey Wahlberg), as well as her imaginative friends Backpack and Map. Together, they often find themselves thwarting the plans of Swiper (Benicio Del Toro), a sly fox intent on snatching away Dora's map.
In a poignant twist of fate, when Dora is just a child of six, her inseparable bond with Diego is shaken as he leaves for Los Angeles to be with his family, while Dora's own family remains consumed by the quest to discover the elusive Inca city of Parapata—a fabled place rumored to hold more gold than exists elsewhere in the world.
Fast forward a decade, and Dora's parents finally decipher the location of Parapata after uncovering an artifact that Dora stumbled upon in a cave disturbed by a recent rockslide. However, before they embark on their treacherous journey, they decide it is best to send Dora to live with Diego's family in Los Angeles while they pursue their exploration. Elena believes Dora is not yet equipped to tackle the dangers of exploration, which prompts Cole to have a heartfelt talk with her about the perils that city life can present.
In the bustling city, under the care of Diego's aunt Sabrina (Pia Miller) and uncle Nico (Joey Vieira), Dora encounters fellow students like Sammy (Madeleine Madden), the intelligent and ambitious class president, and Randy (Nicholas Coombe), an astronomy enthusiast who struggles with bullies at school. Initially, Sammy feels threatened by Dora's brilliance and unconventional perspective since Dora had been homeschooled until this point.
Despite staying in touch with her parents via satellite phone, Dora soon faces a chilling silence when she can no longer reach them. As she gains the reputation of an embarrassing cousin, marked by her exuberance and quirky habits that clash with city norms, tensions rise between her and Diego. The final straw comes when Dora joyfully dances to a Conga song at a school dance, leading to bullying from her peers and prompting Diego to rebuke her for not fitting in, which drives a wedge between them.
The adventure escalates when a field trip to a museum leads the group—Dora, Sammy, Randy, and Diego—into a trap set by mercenaries led by Powell (Temuera Morrison). Captured and shipped in a crate back to Peru, they meet Alejandro (Eugenio Derbez), who claims to be a family friend assisting them. Unfortunately, the mercenaries, aided by Swiper, manage to steal Dora's precious map. Alejandro reveals the grim news of her parents' disappearance and the mercenaries' intent to find them to loot the treasures of Parapata, based on the research in Dora's parents' diary.
Determined to rescue her parents, Dora, alongside Alejandro and her reluctant peers, plunges into the jungle, following the trail left by her parents. Along the way, they encounter a mix of challenges from navigating through obstacles—such as quicksand and Inca puzzles—to evading the territorial defenders of the golden city. They meet a mysterious old woman (Isela Vega) who warns them of the curse that accompanies those who pursue Parapata yet helps them find their way for a time.
Despite the hardships, Dora's courage shines as both Sammy and Randy decide to stay and help, as does Diego after initially considering leaving. Their resolve pays off when, after facing many challenges, Dora discovers the location of her parents right outside the borders of Parapata. However, in a treacherous twist, Alejandro betrays them, revealing his allegiance to the mercenaries. Fortunately, the witty Boots (Danny Trejo), always by Dora's side, comes to their rescue.
In the heart of Parapata, the teens navigate a web of traps and puzzles that lead them to the shrine, where Alejandro embarks on a reckless quest for an idol, only to be ensnared himself. The guardians of Parapata, led by their queen (Q'orianka Kilcher), emerge to confront the intruders. With quick wit, Dora communicates in Quechua, assuring them of their harmless intentions, which ultimately leads to the Inca allowing the teens and Dora's family to depart peacefully, offering a glimpse of their legendary treasure—a magnificent golden monkey idol.
Finally, infiltrating the safety of familiar jungle surroundings, Dora's parents contemplate their future expeditions as a family unit. Yet, characteristically opting for her educational path, Dora resolves to return to school in LA, while the friends celebrate their victorious reunion at a party, leaving Alejandro and the mercenaries to face their fate in the depths of Parapata.
