- Jesse Aarons – In the beginning of the novel, he is habitually fearful, angry and depressed due to his family struggles. He also has a crush on his music teacher, Miss Edmunds, which plays an integral role in the final events of the story. After meeting and then ultimately losing Leslie, he is transformed, in that he becomes courageous and lets go of his anger and frustration.
- Leslie Burke – An intelligent, talented, imaginative, outgoing girl, it is she who creates the imaginary kingdom of Terabithia. Her talents include gymnastics, creative writing, swimming and running. Jesse thinks highly of her, and they are loyal friends. She is a newcomer to his school, and not socially accepted by the other students. She dies when she falls into the creek Jesse and Leslie used to cross into Terabithia after the rope snaps, sustaining a head injury that keeps her unconscious until she drowns.
- May Belle Aarons – One of Jesse's younger sisters. She is described as the only one of his siblings with whom he feels comfortable. However, because she is six years to his 10, she does not fit the mold of the ideal confidante to him, leaving him still desperate for companionship. She is closest to him from the beginning, and like him, feels that she does not have a place in the family. She is the first of his sisters to learn about Terabithia, and becomes the queen after Leslie's death.[8] She is welcomed into his world because of being the only one who to show any sort of empathy for, or acceptance of, him in his family.
- Ellie and Brenda Aarons – Jesse's two older sisters. They are never mentioned separately within the novel and are rarely portrayed in a positive light. They continually ask for favors from their mother and boss their younger siblings around. It is only near the climax of the story, after hearing of Leslie's death, that they express some concern for their brother.
- Joyce Ann Aarons – Jesse's four-year-old youngest sister. She is mainly tended to by the mother and has no significant role in the story, but as May Belle describes her, she is "nothing but a baby".
- Janice Avery – The school bully at Lark Creek. She is very overweight and tends to become very offended when people tease her for being so. Janice has a crush on Willard Hughes, which Jesse and Leslie use to trick her. Her father beats her and she secretly smokes. Also, her face is used on the giant troll living in Terabithia for the 2007 movie.
- Miss Edmunds – The somewhat unconventional and controversial music teacher, whom Jesse greatly admires. Edmunds invites him to go to the Smithsonian Museum, which leads Leslie to go to Terabithia by herself. As a result, Leslie is alone when she falls from the rope and drowns.
- Prince Terrien – A puppy that Jesse gave Leslie for Christmas. He is the guardian and court jester of Terabithia. In the novel, he is referred to as P.T.
- Gary Fulcher – He and Jesse both hope to be the fastest kid in the fifth grade; he serves as another bully in the story, but he is not quite as mean as Janice Avery.
- Mrs. Myers – Jesse and Leslie's teacher, given the nickname "Monster Mouth Myers." She favors Leslie, and tells Jesse after Leslie's death that she was the best student Myers had ever had. Her husband had also died, and she explains to Jesse a little about grief from her own experience.
- William and Judith (Hancock) Burke – Leslie's parents, novelists who come to the story's location for their work. Mother—book writer, Father—political writer. Unlike most of the locals, they do not watch or own a television. Leslie calls William and Judith "Bill and Judy," respectively.
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