The poem follows the misadventures of a Presbyterian knight and his squire as they attempt to impose their rigid moral code upon a chaotic and resistant society. The protagonist, Sir Hudibras, serves as a vehicle for the author to mock the hypocrisy and pedantry of the Puritan faction during the English Civil War. His objective is to enforce order through absurd legalistic arguments and physical confrontation, yet he is consistently thwarted by his own incompetence and the cynical pragmatism of his squire, Ralpho. The narrative is presented in octosyllabic couplets, utilizing a mock-heroic framework to deflate the pretensions of its subjects through biting wit and intellectual irony.

Readers and critics frequently note the linguistic dexterity and intellectual density of the poem, which remains a cornerstone of Restoration satire. Discussion often centers on the effectiveness of the mock-heroic style in dismantling the moral posturing of the era's political figures. Scholars highlight the work's influence on later satirists, noting how the rhythmic structure enhances the comedic delivery of its sharp social observations. The balance between philosophical debate and slapstick physical comedy provides a complex reading experience that continues to generate interest in the historical context of the English Civil War.