King David is the reigning monarch of Israel, a highly competent leader known for his mild temperament and deep indulgence toward his children and subjects. He acts as the poem's allegorical counterpart to King Charles II. David favors his illegitimate son Absalom but continually fails to recognize the young man's character flaws. He views his kingship as deeply tied to the rule of law and seeks to maintain peace in his kingdom despite rising factional tensions and religious conflicts.

Absalom is King David's illegitimate but most favored son, celebrated for his physical beauty and his past military bravery in foreign fields. He represents the Duke of Monmouth in the allegory. Absalom enjoys his father's deep affection but secretly harbors a strong desire for power and legitimacy. Though he initially acknowledges his father's just rule, he is highly susceptible to flattery and easily swayed by manipulative rhetoric regarding his right to the throne.

Achitophel is a former capable public servant who has grown corrupted by his own wild ambition and desire for control. He functions as the allegorical counterpart to the Earl of Shaftesbury. He is entirely self-serving and lacks genuine political principles, seeking only to increase his own influence. He uses his sharp wit and demagogic rhetoric to foment civil unrest, actively trying to topple the established monarchy.

Barzillai is an honorable and dedicated supporter of King David. He represents the loyal Tory faction in the poem's historical allegory. Unlike the corrupt plotters, he is deeply committed to the art of good governance rather than personal advancement. He serves as a moral bedrock for the country, maintaining his loyalty through periods of exile and severe hardship.

Zimri is a morally bankrupt figure who supports Achitophel's schemes against King David. He represents a Whig member of Parliament in Dryden's satire. He is characterized by his extreme stubbornness and consistent inability to form proper judgments, acting as a prime example of the factionalism tearing Israel apart.

Shimei is a deeply corrupt official who lends his institutional support to the plot against King David. He serves as a sharp satirical portrait of the king's contemporary political enemies. He is specifically noted for turning a blind eye to treasonous acts during his time in public office, placing personal gain above the law.

The Almighty serves as the divine, heavenly authority overseeing the political and religious turmoil unfolding in Israel. Through thunder and explicit consent, this divine presence acts as the ultimate validation of King David's earthly reign. This character reinforces the poem's assertion that the monarchy is a divinely ordained institution.