Orsted

The Dragon God who is cursed to be hated and feared by all living creatures in the world; however, he is patient and kind toward his comrades. (Source: Mushoku Tensei Wikia)

Ghislaine Dedoldia

Ghislaine Dedoldia is the daughter of Gustav the former Dedoldia village chief, and the mentor of Eris and she is also the student of Rudeus Greyrat in magic and other subjects. She is one of the few people who have become a Sword King.

Roxy Migurdia

Roxy Migurdia is a talented Migurd mage, and a former magic tutor. Because she can't use telepathy, she leaves her village due to feeling isolated from her peers. Unable to make a stable living as an adventurer, she becomes a travelling tutor and eventually becomes Rudeus' teacher. After the Teleport Incident, Roxy helps Paul to search the world for survivors. Roxy is a thin young Migurd woman of short height with pale skin and long, blue, water colored hair and eyes of the same color. Her outfit usually consists of a magicians hat and robe. Her hair is held in two ponytails that travel down her back. She has a rather child like body which causes several people to think of her as a teenager rather than an adult. (Source: Mushoku Tensei Wikia)

Norn Greyrat

Norn is the daughter of Paul Greyrat and Zenith Greyrat and the younger sister of Rudeus Greyrat. Due to being teleported with only her father, she has a strong attachment to him and hates anyone that hurts him. She is an independent girl that grew up without much of Paul's attention. Unlike her other two siblings, she is a common girl and gets compared to Aisha a lot, and because of that, she has an inferiority complex. She has her own official fanclub in school, unknowing that her brother plays a huge role in it. (Source: Mushoku Tensei Wikia)

Sylphiette

Sylphiette is Rudeus' first friend of the same age. Rudeus saves her from bullies due to the fact that she is a mix of elf, human, and beast. Displacement Incident/Mana Calamity Aftermath (Source: Baka-Tsuki)

Rudeus Greyrat

A reincarnated NEET loser who died, the twist is that his memories of his past life remained. His current body possesses high affinity for magic, even as a child.

Aisha Greyrat

Aisha is the daughter of Paul Greyrat and Lilia Greyrat and the younger half-sister of Rudeus Greyrat. Raised by her mother, Aisha's personality is more of an adult than those of her age, being able to act and speak in a manner of a maid. She is smart, manipulative, cunning, and cute. She has a playful personality and may have a brother complex as she sometimes makes suggestive comments towards Rudeus and has no problems being naked in front of him whenever they take baths together. (Source: Mushoku Tensei Wikia)

Elinalise Dragonroad

A beautiful Elf with an erotic appearance and small breasts. Elinalise Dragonroad is a former member of Paul's party. She has an erotic nature due to her curse. She is a warrior that is good at managing monster aggro but isn't a great fighter. (Source: Mushoku Tensei Wiki)

Zenith Greyrat

The wife of Paul and the mother of Rudeus and Norn. (Source: Mushoku Tensei Wikia)

Hitogami

He is a god that helps Rudeus throughout key points his journey.

Paul Greyrat

Rudy's father, an accomplished swordsman. Currently works as swordsman who protects their village. He teaches Rudy swordsmanship. Novel spoiler: (Source: Baka-Tsuki)

Ruijerd Superdia

The former leader of the Superd's Warrior group who once served Laplace. He accompanied Rudeus and Eris in their journey. (Source: Mushoku Tensei Wikia)

Kishirika Kishirisu

Also referred to as the Great Demon Emperor, she is engaged to the demon lord Badigadi and gifted Rudeus Greyrat a foresight eye when he saved her from starvation.

Shizuka Nanahoshi

Due to her desire to go back home and her unattached attitude to her current world, she tends to like being alone. She is serious when working and childish when it come to stuff from the old world. Shizuka spends all her time indoors and doesn't like meeting people as she doesn't want to grow attached to anyone in the current world. (Source: Mushoku Tensei Wikia)