Abducens nerve palsy (VI cranial nerve) is the most common ocular motor paralysis that causes the affected eye to turn inward due to unopposed action of the medial rectus muscle, resulting in esotropia. It can be congenital or acquired, with various etiologies including trauma, tumors, and elevated or low intracranial pressure. Treatment focuses on addressing the underlying cause, with options including observation, prisms, botulinum toxin, or surgery for persistent cases.