Main characters
- The Belmont Clan
- Alucard (real name Adrian Fahrenheit Țepeș) (various games; see character page for details)
- Leon Belmont (Castlevania: Lament of Innocence)
- Grant Danasty (Castlevania III: Dracula's Curse)
- Sypha Belnades (Castlevania III: Dracula's Curse)
- Hector (Castlevania: Curse of Darkness)
- Maxim Kischine (Castlevania: Harmony of Dissonance)
- Shanoa (Castlevania: Order of Ecclesia)
- Albus (Castlevania: Order of Ecclesia)
- Nathan Graves (Castlevania: Circle of the Moon)
- Cornell (a.k.a. Blue Crescent Moon) (Castlevania: Legacy of Darkness)
- Henry Oldrey (Castlevania: Legacy of Darkness)
- Carrie Fernandez (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Eric Lecarde (Castlevania: Bloodlines)
- Stella Lecarde (Castlevania: Portrait of Ruin)
- Loretta Lecarde (Castlevania: Portrait of Ruin)
- Charlotte Aulin (Castlevania: Portrait of Ruin)
- Soma Cruz (Castlevania: Aria of Sorrow and Castlevania: Dawn of Sorrow)
- Yoko Belnades (Castlevania: Aria of Sorrow and Castlevania: Dawn of Sorrow)
- Aeon (Castlevania Judgment)
Supporting characters
- Ferryman (various games; see his article for details)
- Rinaldo Gandolfi (Castlevania: Lament of Innocence)
- Sara Trantoul (Castlevania: Lament of Innocence)
- Elisabetha Cronqvist (Castlevania: Lament of Innocence)
- Julia Laforeze (Castlevania: Curse of Darkness)
- Saint Germain (Castlevania: Curse of Darkness)
- Lydie Erlanger (Castlevania: Harmony of Dissonance)
- Annette (Castlevania: Rondo of Blood)
- Iris (Castlevania: Rondo of Blood)
- Tera (Castlevania: Rondo of Blood)
- Lisa (Castlevania: Symphony of the Night)
- Master Librarian (Castlevania: Symphony of the Night)
- Hugh Baldwin (Castlevania: Circle of the Moon)
- Morris Baldwin (Castlevania: Circle of the Moon)
- Ada (Castlevania: Legacy of Darkness)
- Renon (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Charlie Vincent (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Malus (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Fernandez Warrior (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Rosa (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Vincent Dorin (Castlevania: Portrait of Ruin)
- Genya Arikado (Castlevania: Aria of Sorrow and Castlevania: Dawn of Sorrow)
- Mina Hakuba (Castlevania: Aria of Sorrow and Castlevania: Dawn of Sorrow)
- Hammer (Castlevania: Aria of Sorrow and Castlevania: Dawn of Sorrow)
Antagonists
- Dracula (whole series)
- Death (whole series)
- Joachim Armster (Castlevania: Lament of Innocence)
- Walter Bernhard (Castlevania: Lament of Innocence)
- Isaac (Castlevania: Curse of Darkness)
- Shaft (Castlevania: Rondo of Blood and Castlevania: Symphony of the Night)
- Barlowe (Castlevania: Order of Ecclesia)
- Camilla (Castlevania: Circle of the Moon)
- Ortega (Castlevania: Legacy of Darkness)
- Gilles de Rais (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Actrise (Castlevania (N64) and Castlevania: Legacy of Darkness)
- Drolta Tzuentes (Castlevania: Bloodlines)
- Elizabeth Bartley (Castlevania: Bloodlines)
- Brauner (Castlevania: Portrait of Ruin)
- Stella (vampire) (Castlevania: Portrait of Ruin)
- Loretta (vampire) (Castlevania: Portrait of Ruin)
- Graham Jones (Castlevania: Aria of Sorrow)
- Celia Fortner (Castlevania: Dawn of Sorrow)
- Dmitrii Blinov (Castlevania: Dawn of Sorrow)
- Dario Bossi (Castlevania: Dawn of Sorrow)