This was a live action film made, probably, in the 60s or 70s. It is set in a pseudo medieval world but I do not recall there being magic.
Towards the beginning of the film the hero is trying to escape from a castle with some people and they exit though a trap door which he holds shut from underneath. The villain has acid or something poured onto the trap door and it destroys the hero's hands.
They escape and the hero goes to see someone who makes him claws to replace his hands. He then heads back to get revenge.