Susan is an Englishwoman who washes ashore on a desolate island after searching Brazil for her missing daughter. She is resilient and willful, determined to survive the harsh conditions and eventually document her experiences. Upon returning to England, she seeks a writer's assistance but fights to maintain control over how her personal history is framed.

Friday is a formerly enslaved African man living on the island with Cruso. His tongue was removed by enslavers, rendering him unable to speak. He communicates through limited actions, such as playing a flute or scattering petals, and remains a deeply observant presence whose inner thoughts are inaccessible to those around him.

Foe is an established English intellectual and writer living in London. Despite his literary reputation, he faces severe financial difficulties that force him to dodge bailiffs. He views storytelling through a commercial lens, often pressuring his subjects to alter their factual accounts to satisfy public expectations for dramatic resolutions.

Cruso is a 60-year-old European man who has lived in isolation for years. He wears animal pelts and occupies his time building extensive, empty stone terraces. Having no desire to document his past or seek rescue, he enforces rigid authority over his small domain and rejects attempts to alter his bleak routine.

Little Susan is a young girl in London who follows Susan Barton and insists she is her long-lost daughter. She persistently attempts to establish a familial bond, despite continuous rejections and denials from the older woman.

Amy is an older nurse who accompanies the young girl claiming to be Susan's daughter. She supports the girl's claims and insists she recognizes Susan from years prior.

Mrs. Thrush is a woman associated with Foe who helps manage his affairs while he evades bailiffs. She assists visitors by forwarding messages to his new locations.

Wilkes is a bailiff stationed at Foe's property to serve a warrant for unpaid debts. He aggressively deters visitors who approach the house.

Mr. Summers is a visitor to Foe's London property. He speaks briefly with Susan, accepting her claim that she is the housekeeper.

Jack is an orphaned errand boy working for Foe. Described as a notable pick-pocket, he handles small tasks and deliveries around London.