Wizards & Warriors III: Kuros: Visions of Power (1992)

Wizards & Warriors III is a platforming video game which features open-ended gameplay elements similar to games such as Metroid and Faxanadu. Players control the main character Kuros as he sets out to defeat Malkil and free the town of Piedup. The game features three separate realms in which the player must explore - the town, the underworld, and the palace; players can freely navigate from one realm to another. (wikipedia)