- The Rudges – Barnaby, a simple man, his loving mother Mary, and his companion Grip, the loquacious raven
- The Willets – Old John, the keeper of the Maypole Inn, and his kindly son Joe
- The Vardens – Gabriel, the locksmith, his manipulative wife Martha, and his beautiful daughter Dolly Varden
- The Chesters – the villainous Sir John, Esquire, M.P. (Member of Parliament) and his innocent son Edward
- The Haredales – Mr Geoffrey Haredale (younger brother of the murdered Reuben), and his niece (Reuben's daughter) Emma
- Hugh – the sinister hostler of the Maypole Inn
- Lord George Gordon (a fictionalisation of the historical personality), his loyal servant John Grueby, and his obsequious and duplicitous secretary Mr Gashford
- Simon Tappertit – Gabriel Varden's temperish apprentice, and Miggs, Mrs Varden's shrewish housemaid
- Ned Dennis – the hangman of Tyburn
- The mysterious stranger, ultimately revealed to be Barnaby Rudge, Sr, the steward and murderer of Reuben Haredale
- Stagg – the crafty blind man
- Solomon Daisy, 'Long' Phil Parkes, and Tom Cobb, Old John's three cronies
- Mr Langdale – Kindly vintner and distiller in Holborn based on an historical figure. The Catholic Langdale shelters Geoffrey Haredale from the rioters. His home and warehouse are burned in the riots, his stores of spirits are consumed by the mob. A very hearty old fellow and a worthy man, often described as a "purple-faced old vintner"
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