- In Britain
- Cymbeline – Modelled on the historical King of Britain, Cunobeline, and father to Imogen
- Queen – Cymbeline's second wife and mother to Cloten
- Imogen/Innogen[2] – Cymbeline's daughter by a former queen, later disguised as the page Fidele
- Posthumus Leonatus – Innogen's husband, adopted as an orphan and raised in Cymbeline's family
- Cloten – Queen's son by a former husband and step-brother to Imogen
- Belarius – banished lord living under the name Morgan, who abducted King Cymbeline's infant sons in retaliation for his banishment
- Guiderius – Cymbeline's son, kidnapped in childhood by Belarius and raised as his son Polydore
- Arvirargus – Cymbeline's son, kidnapped in childhood by Belarius and raised as his son Cadwal
- Pisanio – Posthumus's servant, loyal to both Posthumus and Imogen
- Cornelius – court physician
- Helen – lady attending Imogen
- Two Lords attending Cloten
- Two Gentlemen
- Two Captains
- Two Jailers
- In Rome
- Philario – Posthumus's host in Rome
- Iachimo/Giacomo[2] – a Roman lord and friend of Philario
- French Gentleman
- Dutch Gentleman
- Spanish Gentleman
- Caius Lucius – Roman ambassador and later general
- Two Roman senators
- Roman tribunes
- Roman captain
- Philharmonus – soothsayer
- Apparitions
- Jupiter – King of the gods in Roman mythology
- Sicilius Leonatus – Posthumus's father
- Posthumus's mother
- Posthumus's two brothers
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