Crusoe is an ambitious young man from Hull who ignores his parents' advice to pursue a comfortable, middle-class life. Driven by a desire for wealth and adventure, he sets out to sea, leading him through various trades in Guinea, enslavement in Morocco, and plantation ownership in Brazil. His restless nature causes him to shipwreck on an uninhabited island, where he must learn basic survival skills and confront his fluctuating faith in God.

Friday is a young Caribbean man who escapes a rival tribe's sacrificial gathering. After Crusoe intervenes to save his life, he swears lifelong devotion to his rescuer by placing Crusoe's foot upon his head. He quickly learns English, studies Christian teachings, and proves to be an intelligent companion who breaks Crusoe's decades of complete isolation.

Xury is a young enslaved boy held captive by Moorish pirates in Sallee. He assists Crusoe with fishing and maintenance before joining him in a daring escape down the African coast. He proves faithful during their difficult journey, though his fate rests entirely in Crusoe's hands once they encounter a European vessel.

The widow is the surviving wife of the captain who commanded Crusoe's first successful trip to Guinea. She acts as an honest trustee of Crusoe's funds in England during his extensive travels and eventual disappearance. She maintains his accounts faithfully during his long absence.

This charitable ship captain is en route to Brazil when he rescues Crusoe and Xury after their escape from Sallee. He refuses to charge Crusoe for passage, stating he would want the same treatment if stranded, and actively helps Crusoe purchase and establish a plantation in Brazil. He later acts as a critical link to Crusoe's financial interests.

He is the lawful commander of an English ship who falls victim to a mutiny by his own crew. Facing the prospect of being marooned on a remote island, he discovers unexpected salvation when Crusoe intervenes. He relies on Crusoe's knowledge of the island and strategic planning to formulate a plan to reclaim his vessel.

He is a pragmatic man from Hull who strongly advises his son to pursue a safe, middle-class existence. He warns that seafaring brings unnecessary tempests and hardships, offering a philosophy of moderation that haunts Crusoe during his lowest moments.

Crusoe's mother lives in Hull and shares her husband's desire for their son to remain safely at home. She refuses to give her blessing for his departure, prompting him to leave secretly without her consent.

Wells is a Portuguese man born to English parents who lives as a plantation owner in Brazil. He becomes Crusoe's neighbor, sharing the challenges of agricultural life as Crusoe establishes his tobacco crops.

Ishmael is a Moorish captive or servant who goes fishing with Crusoe and Xury for their enslaver's dinner party. Crusoe throws him overboard during the escape, threatening him with a gun to ensure he does not interfere with the getaway.

He is an older Caribbean man captured by a rival tribe alongside a Spaniard. After being rescued from execution by his son and Crusoe, he recovers under their care before being dispatched on a mission to organize a larger rescue effort.

He is a European survivor of a previous shipwreck who lives among Friday's people before being captured by a warring tribe. Crusoe and Friday rescue him from impending death, and he agrees to submit to Crusoe's authority in exchange for helping his remaining shipwrecked countrymen.

Atkins is a rebellious sailor involved in mutinying against his captain. As part of the crew attempting to maroon their commanding officer, he faces severe legal consequences and the threat of hanging for his insubordination.