(principal characters in bold)
- Cedric the Saxon, of Rotherwood
- Wilfred of Ivanhoe, Cedric's son
- Rowena, Saxon princess, Cedric's ward
- Athelstane, Saxon nobleman, Cedric's kinsman
- Gurth, Cedric's swineherd
- Wamba, Cedric's jester
- Oswald, Cedric's cup-bearer
- Elgitha, Rowena's waiting-woman
- Albert Malvoisin, Preceptor of Templestowe
- Philip Malvoisin, his brother, Cedric's neighbor
- Hubert, Philip's forester
- The Prior of Aymer, Abbot of Jorvaulx
- Ambrose, a monk attending him
- Brian de Bois-Guilbert, a Templar
- Baldwin, his squire
- Isaac of York, a Jewish money-lender
- Rebecca, of York, Isaac's daughter, an accomplished physician and philanthropist
- Nathan, a rabbi and physician
- King Richard ('the Black Knight')
- Prince John, Richard's brother
- Alias Locksley, Robin Hood, an outlaw
- Reginald Front-de-Bœuf of Torquilstone, Norman holder of an ancient Saxon fortress. Cedric's neighbor
- Maurice de Bracy, a Free Companion (mercenary)
- Waldemar Fitzurse, Prince John's advisor - a fictional son of Reginald FitzUrse, a murderer of Archbishop Becket.[6]
- Hugh de Grantmesnil
- Ralph de Vipont, a Hospitaller
- Friar Tuck, of Copmanhurst
- Ulrica, of Torquilstone, alias Urfried
- Lucas de Beaumanoir, grand-master of the Templars
- Conrade Mountfitchet, his attendant knight
- Higg, a peasant
- Kirjath Jairam of Leicester, a rich Jew
- Alan-a-Dale, a minstrel
