Matthew is a well-to-do Welsh squire traveling through Great Britain to seek relief from gout and rheumatism. He presents a grumpy, misanthropic exterior and complains frequently about modern urban life, superficiality, and the poor quality of food in cities. Beneath his cantankerous demeanor, he possesses a deeply compassionate nature and regularly offers financial help to those suffering from poverty or injustice.

Tabitha is Matthew's unmarried older sister, determined to find a husband during their extensive travels. She is highly assertive, dictating the operation of the family estate from afar and micromanaging her servants with an iron fist. Her aggressive attempts to flirt with any eligible man she meets frequently cause social awkwardness for her relatives.

Lydia is the orphaned niece of Matthew and Tabitha, recently pulled from her boarding school in Gloucester after falling for a traveling actor. She is a sensitive, polite young woman who perfectly aligns with conventional expectations of modesty and innocence. Despite obeying her uncle's command to end her scandalous courtship, she remains secretly devoted to her forbidden romantic interest.

Jeremy is an Oxford-educated young man traveling with his aunt and uncle. He views the world with bemused detachment, frequently finding humor in his family's chaotic interactions and the ridiculous characters they meet. He maintains a fierce, somewhat overbearing protective instinct regarding his sister's reputation and harbors strong prejudices regarding social class boundaries.

Winifred is Tabitha's personal maid, traveling with the family and providing a working-class perspective on their misadventures. Her letters are filled with comical misspellings, misused vocabulary, and colorful gossip. During the journey, she attracts romantic attention and slowly adopts more devout religious practices under the influence of her fellow servants.

Humphry is an impoverished young peasant whom Matthew hires as a footman out of pity. Despite his initial lack of presentable clothing, he quickly proves himself to be remarkably competent, brave, and loyal to his new employers. He is a devout Methodist who actively preaches to others, maintaining high moral standards and exerting a positive influence on those around him regardless of his lowly social position.

Chowder is Tabitha's unruly, ill-behaved pet dog. His aggressive tendencies and lack of discipline frequently spark arguments between Tabitha and the rest of the traveling party, acting as an extension of Tabitha's own stubborn personality.

Wilson is a young man touring with a theater company who courts Lydia while she is at boarding school. His apparent low social standing as an actor enrages Jeremy, prompting a near-duel and Lydia's forced departure. He persistently follows the family's travel route, appearing in various disguises to communicate with Lydia.

Lismahago is a Scottish veteran who fought with British forces in North America, surviving severe wounds and captivity among Indigenous populations. He is highly intellectual and notoriously argumentative, enjoying long philosophical debates with Matthew Bramble. His rugged background and conversational stamina attract Tabitha's eager romantic attention.

Dr. Lewis is Matthew's trusted physician and primary correspondent. He remains at home in Wales, managing some of Matthew's affairs and receiving lengthy, detailed letters about his friend's physical complaints and disdain for modern medical treatments.

Sir Watkin is Jeremy's friend from Jesus College at Oxford. He serves as the primary sounding board for Jeremy's bemused observations about the family's chaotic travels and the oddities of urban society.

Laetitia is Lydia's best friend and former roommate at the Gloucester boarding school. She acts as Lydia's loyal confidante, keeping her updated on local news and sympathizing with her romantic heartbreak.

Edward is a highwayman who robs travelers along the road. After Humphry is wrongly imprisoned for his crime, Edward eventually steps forward to help clear the innocent footman's name and expresses a genuine desire to reform his criminal life.