We called it G-Force but it seems to actually be called Battle of the Planets.
I would run ( a long way!) home after school to be able to see this. I was desperate for a pair of shoes like Princess had that would turn into butt-kicking thigh high boots!
It wasn't until I was older that I realized that this was Japanese animation. It explained why some of the facial expressions for anger or grief seemed confusing to a North American kid.
And Zoltar was the best villain.
Hmm - I think I'll have to dig up some episodes...