When the guards heard of Allen's ridicule, they were blinded by rage as they charged toward him, only to be stopped by Allen using his paralysis magic.
After paralyzing the guards, Allen, Alisceon, Iris, John, and Deus entered the Gaia Kingdom without minding the struggles of the guards as they tried to move their bodies.
As for why they dared to enter the kingdom without the guards' consent, they had the first princess by their side! Why should they not enter the kingdom?
With a confident stride, they entered the Gaia Kingdom.
Of course, they encountered the other guards that were patrolling the kingdom, but none of them stopped Allen and his group from entering. Unlike the entrance guards from before, the guards who patrolled the kingdom weren't bought by Alisceon's royal siblings. So, seeing that Allen and his group were accompanied by the first princess, none of them intercepted Allen and his group.