Written and illustrated by Yukiru Sugisaki, D.N.Angel premiered in Japan in the November 1997 issue of Monthly Asuka where new chapters were serialized monthly until Sugisaki put the series on an extended hiatus after the August 2005 issue. The series eventually returned to serialization, starting in the April 2008 issue of Monthly Asuka, where it continues to run. The individual chapters are collected and published in tank�bon volumes by Kadokawa Shoten. The first volume was released on November 13, 1997; as of October 2008, 13 volumes have been released.

The series is licensed for an English-language release in North America by Tokyopop. The first volume of the series was released on April 6, 2004; as of August 2008, the 11 volumes published before the series hiatus have been released. On November 8, 2005, Tokyopop released a box set containing the first two volumes of the series.

In August 2003, while the primary series was on hiatus, a second manga series, D.N.Angel TV Animation Series began serialization in Monthly Asuka. Also written by Sugisaki, the short series was based on the anime adaptation, which had diverged from the storyline of the manga series. D.N.Angel TV Animation Series finished its serialization in the October 2003 issue. It was published in 5 bon volumes by Kadokawa Shoten.