Oroonoko is the prince and heir to the throne of Cormantien, an African nation. Educated by a French tutor, he speaks multiple European languages and acts as a brave, highly capable military leader. He falls deeply in love with Imoinda and breaks local custom by promising to remain monogamous. Later, he faces capture by English slave traders and is taken to Surinam, where he receives the name Caesar.

Imoinda is the remarkably beautiful and modest daughter of the King's senior general. She quickly captures Oroonoko's heart, leading to a secret marriage. Her striking appearance draws the dangerous attention of the King, who commands her to enter his harem. In Surinam, she receives the slave name Clemene and remains fiercely loyal to her husband.

The aged ruler of Cormantien and Oroonoko's grandfather. He is an authoritarian and jealous leader who expects absolute obedience from his subjects. Driven by his own selfish desires, he aggressively pursues Imoinda despite knowing of her relationship with his grandson, abusing his power to separate the young lovers.

A well-spoken slave ship captain who feigns friendship with Oroonoko. He relies on deceit and trickery rather than honorable combat, inviting the prince and his entourage aboard his ship for a feast only to seize and chain them once they are vulnerable.

The deputy governor of Surinam, acting in the absence of a proper Lord Governor. He is a treacherous and dishonorable leader who commands the colonial militia. He readily makes promises to secure his own advantage, harboring little intention of keeping his word.

An unnamed Englishwoman and daughter of the Lord Governor of Surinam. She resides at Parham-House while waiting for the new governor to arrive. She is highly educated, observant, and forms a strong bond with Oroonoko, attempting to keep him entertained and pacified during his enslavement.

An intelligent, well-educated English overseer at Parham-House, brought to Surinam to manage the Lord Governor's affairs. He immediately recognizes Oroonoko's noble bearing, renames him Caesar, and treats him with unusual respect. He serves as an honorable figure among the colonists.

An enslaved man of higher status than the others on the plantation. He listens to Oroonoko's plans for freedom and voices practical concerns about their families. He proves to be exceptionally loyal, remaining by Oroonoko's side during conflicts.

An English colonist and friend to Oroonoko. Unlike many of the other council members and colonists, he is considered a good, honorable man who treats others with dignity and refuses to participate in the cruelest actions of the colonial government.

Oroonoko's loyal friend and companion in Cormantien. He supports the prince through his despair over losing Imoinda and actively assists in the secret plots to reunite the lovers, including seducing one of the King's older wives to secure their passage.

One of the King's older wives who resides in the Otan. Because she is past her youth, she is expected to teach the younger women. She is sympathetic to Oroonoko and Imoinda's plight and aids them in sneaking around the palace.

A military commander who is defeated and captured by Oroonoko. Despite being a prisoner of war, he is treated with great honor by the prince. The two men form a strong bond, and he becomes a steadfast companion to Oroonoko.