The Legend of Legacy was principally developed by Cattle Call, with game design by Grezzo and general supervision by Atlus. The staff included multiple industry veterans, many of whom had worked at Square on the Final Fantasy and SaGa series. From the SaGa series were designer Kyoji Koizumi, and promotional illustrator Tomomi Kobayashi. From the Final Fantasy series were art director Masayo Asano, character designer Ryo Hirao, and monster designer Yuichiro Kojima. Ryoji Shimogama, whose previous credits included the Resident Evil series and Parasite Eve 2, worked on monster designs with Kojima. The music was composed by Masashi Hamauzu, who had worked on both Unlimited Saga and Final Fantasy XIII. The script was written by Masato Kato, who had written the scripts for Chrono Trigger and its sequel Chrono Cross. The game was directed by Masataka Matsuura, who had previously worked on Nine Hours, Nine Persons, Nine Doors.