Mahou no Princess Minky Momo Fantastic World

Momo is a princess of a magical world that has come to Earth together with three companions - a bird, a dog, and a monkey - to help humans regain their happiness and bring the two worlds together. She has the appearance of a pretty, cheerful teenage girl, and immediately attracts the attention of a young boy who lives in a quiet town with his biologist father. Together, the two must solve the mysteries of the town, and perhaps find happiness for themselves as well.
"Mahou no Princess Minky Momo" is based on an anime of the same name.

[From Moby Games]