- Odysseus
- King of Ithaca, hero of the Trojan War, known for cunning. Epithets: 'man of many turns', 'great teller of tales'.
- Penelope
- His wife, who keeps the suitors waiting for years with tricks of her own.
- Telemachus
- Their son, a baby when Odysseus left, now about twenty.
- Laertes
- Odysseus's old father, living in grief on his farm.
- Anticleia
- Odysseus's mother, who died of longing for him.
- Eurycleia
- The old nurse who raised Odysseus and Telemachus.
- Eumaeus
- The loyal swineherd.
- Philoetius
- The loyal cowherd.
- Antinous
- The most arrogant of the suitors.
- Eurymachus
- A smooth-talking, deceitful suitor.
- Amphinomus
- The most decent of the suitors.
- Melanthius / Melantho
- A goatherd and a maid who betray the household.
- Athena
- Goddess of wisdom and Odysseus's protector, often in disguise (Mentes, Mentor).
- Zeus
- King of the gods, protector of guests and strangers.
- Poseidon
- God of the sea, Odysseus's enemy after the blinding of his son.
- Hermes
- Messenger god, sent to Calypso and to help Odysseus against Circe.
- Calypso
- A goddess who holds Odysseus on her island for seven years.
- Circe
- A goddess and enchantress who turns men into pigs.
- Polyphemus
- The Cyclops, a one-eyed giant and son of Poseidon.
- Alcinous, Arete, Nausicaa
- King, queen and princess of the Phaeacians, who carry Odysseus home.
- Tiresias
- The blind prophet Odysseus consults in the land of the dead.
- Nestor, Menelaus, Helen
- Veterans of Troy whom Telemachus visits for news.