Urusei Yatsura
Lum*Urusei Yatsura

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Basically, they share the same basic narrative components and tropes: first of all the alien girl with magic-like powers who falls in love with the main character in chapter 1; similar supernatural or science fantasy comedic situations; bizarre adventures; silly inventions; funny aliens; stereotypical characters whose caricatural traits are played straight for fun (like the rich and conceited classmate, or the strange headmaster). It's almost the same story and sometimes the script is so blatant that you could say that there is plagiarism. Still, there are some differences in the end. The first difference you will notice is that To LOVE-Ru is much much more ecchi than Urusei Yatsura, with a lot of nudes and fan service. Plotwise, the male protagonist of Urusei Yatsura is portraited as a perverted idiot, while the male protagonist of To LOVE-Ru is only shy and wimp. Girls might be rude with him because of misunderstandings, but they are usually milder and eventually fond of him (much like Keitaro from Love Hina). Besides, this also means that To LOVE-Ru goes into the harem genre, so there is a bit of teenage romantic relationships and girls can be potential companions (still like in Love Hina), while Urusei Yatsura doesn't go into this and girls are simply annoyed by all the perverted gags. read more 

Orthodox old school harem manga. 100% similar plot with different setting. Average male MC encounters a goddess falling from above. Unusual supernatural slice of life comedies.  

Human boy and non-human girl relationship, lots of zany characters, slapstick comedy, school life, and ridiculously hilarious situations. If you like one you should definitely like the other. 

Lum and Doraemon both carry a lot of interesting sci-fi gadgets. The gadgets are used in interesting ways, though Urusei Yatsura's main focus is not on them. 

xxxHOLiC and Urusei Yatsura both borrow heavily from Japanese mythology to create colorful casts of characters. These two stories are alike in their humor and energy, filled to the brim with gags, love, and genuine humanity. Tonally, Urusei Yatsura feels like the younger sibling of xxxHolic: where the latter is often eery and sophisticated, the former is spooky and brash; but you'll love them both just the same. 

Both titles have an extremely similar feel. One girl is a witch and the other is an alien and the both of them can fly. Romance is a central theme in both. 

If you love the wacky hijinks, improbably silly scenarios, wanton destruction and over the top perversion of Sora no Otoshimoto, then Urusei Yatsura has plenty more where that come from. Tomoki and Ataru could be related. On the other hand, if you liked Urusei Yatsura, but were hoping for a more cohesive plot, and maybe a little drama, then you should definitely take a look at Sora no Otoshimono. You won't be disappointed. 

The artwork is very similar, and both are about a hapless guy caught up in a romance that could influence the future of the human race. Outlanders however is much more serious and violent while Urusei Yatsura is more of a comedy/school life. 

Both are about an incredibly perverted boy in a love-hate relationship with a beautiful girl. The boy likes the girl, but can't help but fantasize about other women in extremely ecchi situations. 

Urusei Yatsura is pretty much the original Alien Girlfriend comedy manga. Lum doesn't change into alien forms, but then Demelta doesn't shoot lightning bolts, so its even in a sense. 

The main similarity between these two is the bizarre aliens (though there's only one alien in "Cocktail Ponytail") and slapstick science fiction comedy. Both are a good read and a good escape from reality.