This can be stated in active form. Alternate translation: "that we would serve him without fear after he rescued us from the hand of our enemies" (See: [[rc://en/ta/man/translate/figs-activepassive]])
Here "hand" refers to the control or power a person. This could be stated clearly. Alternate translation: "from the control of our enemies" (See: [[rc://en/ta/man/translate/figs-metonymy]])
This refers back to the fear of their enemies. Alternate translation: "without being afraid of our enemies" (See: [[rc://en/ta/man/translate/figs-ellipsis]])