Pamela is a 15-year-old maidservant in Bedfordshire, England. Coming from a working-class background, she has acquired refined skills and eloquence through her employment with the wealthy Lady B. She is deeply pious and fiercely committed to maintaining her virtue and personal integrity, particularly when handling the precarious power dynamics of her household.

Mr. B is a young, wealthy landowner who inherits the Bedfordshire estate following his mother's death. Accustomed to having his desires met without contradiction, he struggles to manage his household responsibly. He acts selfishly and aggressively in his pursuit of Pamela, using his significant wealth and authority to pressure her.

Lady Davers is the wealthy, aristocratic sister of Mr. B. She holds rigid beliefs regarding the absolute division of social classes and the importance of untainted bloodlines. She is fiercely protective of her family's reputation and prone to aggressive, entitled behavior when she feels the social order is threatened.

Mrs. Jewkes is the housekeeper at Mr. B's remote Lincolnshire estate. She is described as physically imposing and distinctly unfeminine. She maintains fierce loyalty to Mr. B, actively enabling his most sinister plans without moral hesitation.

Mrs. Jervis is the kindly housekeeper at the Bedfordshire estate. She functions as a maternal surrogate for Pamela after Lady B's death, offering emotional support and sharing her bed for protection. Her reliance on Mr. B for employment limits her ability to fully shield Pamela from his advances.

Mr. Andrews is Pamela's father, a poor but deeply pious man living a traditional agrarian lifestyle. He values honesty and virtue above all material wealth. He constantly advises his daughter to prioritize her safety over any financial support she might provide the family.

Mrs. Andrews is Pamela's mother. Living in poverty, she depends somewhat on the wages her daughter earns. She adamantly refuses to compromise her daughter's safety for money and writes anxious letters advising caution.

Mr. Williams is a well-meaning clergyman associated with the Lincolnshire estate. He attempts to assist Pamela in escaping her captivity by carrying letters and seeking help from local gentry. His financial dependence on Mr. B limits his effectiveness and puts his livelihood at risk.

Monsieur Colbrand is a formidable Swiss man employed by Mr. B to reinforce security at the Lincolnshire estate. His massive size and unappealing physical appearance terrify Pamela, reinforcing the physical threats to her freedom.

Lady B is the deceased mother of Mr. B and Lady Davers. Before her death, she employed Pamela and elevated the young girl by providing her with an education and refined skills uncharacteristic for a servant.

John is a footman at the Bedfordshire estate. He initially appears as a helpful friend to Pamela, delivering her correspondence home. His loyalty to his employer places him in a compromising moral position regarding these letters.

Mr. Longman is the steward of the Bedfordshire household. He is a practical and loyal employee who recognizes the value of good staff, occasionally risking Mr. B's anger to advocate for his fellow servants.

Robin is a coachman employed by Mr. B. He executes his master's orders without question, playing a crucial role in relocating Pamela under false pretenses to the isolated estate.

Sally Godfrey is a woman connected to Mr. B's student days. Originating from a respected family, she faces severe social challenges that eventually force her to relocate to Jamaica and rebuild her life abroad.

Miss Goodwin is a young girl attending a boarding school near the Bedfordshire estate. She enjoys visiting local farmhouses and is well-cared for by the local gentry, living an isolated but comfortable life.