Rasselas is the 26-year-old Prince of Abyssinia who lives in a utopian valley designed to fulfill every physical desire. Despite the ease and luxury of his surroundings, he experiences profound existential discontent and seeks a deeper understanding of human satisfaction. He observes the natural world, comparing himself to birds and flowing rivers, which drives his desire for a purposeful life. He is introspective, observant, and determined to determine if true happiness is achievable outside his sheltered environment.

Imlac is a learned philosopher, poet, and world traveler who resides in the Happy Valley. Originally the son of a prosperous merchant, he chose the pursuit of knowledge over commerce, traveling extensively through regions like Persia, Arabia, and India. He acts as a pragmatic mentor to Rasselas, offering a perspective grounded in practical experience.

Nekayah is the Princess of Abyssinia and Rasselas's sister. Feeling similarly confined by the utopian monotony of the Happy Valley, she eagerly joins her brother's escape plan. She is intellectually curious and highly observant, choosing to investigate the lives of middle-class families and private domestic dynamics to understand the nature of happiness.

Pekuah is Nekayah's devoted maid and close companion who travels with the royal siblings. She provides a contrasting perspective to the royals, often demonstrating practical fears regarding the unknown. She possesses resilience and an ability to adapt to changing and frightening circumstances during their travels.

The Old Instructor is a counselor within the Happy Valley who attempts to soothe Rasselas's restlessness. He tries to convince the young prince to appreciate his luxurious surroundings by describing the miseries of the outside world, a strategy that inadvertently fuels the prince's curiosity.

The Inventive Artist is a mechanically gifted resident of the Happy Valley who designs a sailing chariot and attempts to build bat-like wings for human flight. He embodies the human aspiration for freedom and transcendence, though his ambitious project faces practical limitations.

Imlac's Father is a prosperous merchant living in the kingdom of Goiama near the Nile. He possesses a commerce-focused worldview and attempts to steer his son toward increasing the family's wealth, failing to understand his son's passion for intellectual pursuits.

The Lecturer is a philosopher Rasselas encounters in Cairo who teaches that true happiness comes from mastering one's emotions through rational thought. He possesses strong stoic ideals, though his teachings face severe testing when confronted with the realities of human grief.

The Hermit is a former high-ranking military officer who retreated from society to live in isolation in a well-organized cave. Despite expecting to find perfect peace, he struggles with the lack of meaningful engagement and good company in his solitary life.

The Arab Chief is the leader of a nomadic group encountered by the travelers. He treats those of high status with respect and proves to be a knowledgeable figure with an appreciation for ancient history and astronomy, complicating the travelers' initial perceptions of him.

The Astronomer is a dedicated scholar in Cairo who has lived in seclusion for forty years, studying the celestial bodies. While possessing immense knowledge, his long isolation heavily influences his perception of reality. He shares his extensive learning with those who visit him, though he carries secret burdens regarding his studies.

The Old Man is a figure the group encounters who possesses vast life experience and knowledge. He approaches the world with melancholy and detachment, reflecting heavily on missed opportunities and the inevitable decline of physical and emotional vigor.