Plunkett (Robert Carlyle) and Macleane (Jonny Lee Miller) are an unlikely, but potent, team. Although from different ends of England’s social spectrum, they enter into a “gentleman’s agreement.” Plunkett has the brains and the know-how; Macleane has the social connections. Stealing from the rich, they give to — themselves: Plunkett aspires to journey to America, while Macleane seeks to enter high society. Macleane’s social ambitions are facilitated by his old friend, the foppish and debauched Lord Rochester (Alan Cumming). Infiltrating wealthy society, Macleane gathers information, which the duo then use to stage holdups of aristocrats’ coaches. When the men waylay the coach of the Lord Chief Justice Gibson (Michael Gambon), Macleane falls in love at first sight with Gibson’s beautiful, rebellious niece, Lady Rebecca Gibson (Liv Tyler).

Macleane courts Lady Rebecca whenever and wherever possible. But Gibson’s second-in-command, Thief Taker General Chance (Ken Stott) pursues the highwaymen relentlessly; and pursues Lady Rebecca as well. As danger draws ever closer to Plunkett and Macleane, their daring and loyalty are pushed to the limit.