Ultra-hypofractionated radiotherapy (UHF RT) is revolutionizing the treatment approach for low- and intermediate-risk prostate cancer patients. This study reports the planning process of UHF RT utilizing the cone beam computed tomography (CBCT)-based online adaptive radiotherapy (OART) treatment with the Ethos system, focusing on a comparative analysis between OART and image-guided radiotherapy (IGRT) plans. We also assessed the pre-planning capabilities of the Ethos system against the CyberKnife (CK) (Accuray, Sunnyvale, CA) system. A 66-year-old patient, diagnosed with prostatic acinar adenocarcinoma confirmed via biopsy and presenting with elevated prostate-specific antigen (PSA) levels, underwent UHF OART treatment using the Ethos system. The planning encompassed delineating the gross target volume (GTV) as the prostate, while the clinical target volume (CTV) comprised the prostate and proximal seminal vesicle. The planning target volume (PTV) was derived from the CTV with a 5 mm external margin except for a 3 mm posterior margin. A simultaneous integrated boost (SIB) technique was employed, delivering 40 Gy in five fractions (8 Gy per fraction) to the gross tumor volume (GTV) and 36.25 Gy in five fractions (7.25 Gy per fraction) to the remaining part of the planning target volume (PTV), with treatments scheduled biweekly. We compared OART and IGRT plans and conducted a comparative analysis between Ethos planning and the CK system for pre-planning assessment. When comparing Ethos planning and CK plans, Ethos demonstrated slightly better target coverage and organ-at-risk (OAR) sparing. However, CK plans showed superior containment of low-dose spillage, particularly at 50% and 25% iso-doses, due to non-coplanar beam arrangements. Our results demonstrated that OART plans yielded superior target coverage and improved OAR sparing compared to IGRT plans. Notably, the entire OART process, from planning to delivery, was accomplished within 27 minutes. The Ethos OART system's ability to adapt to daily anatomical changes, efficient workflow, and superior OAR-sparing capabilities make it a promising option for prostate cancer treatment using UHF RT.