Penelope is a Spartan princess, daughter of King Icarius and a water nymph. Renowned for her intelligence rather than physical beauty, she approaches her arranged marriage to Odysseus with a mixture of youthful naivete and ingrained caution. Following a childhood incident where her father attempted to drown her, she maintains a reserved exterior and values self-sufficiency. From the afterlife, she reflects on her mortal life to set the record straight regarding the legends of her faithfulness.

The twelve youngest maids of the Ithacan household come from impoverished, powerless backgrounds. Assigned to serve the royal family, they occupy the lowest rung of the social hierarchy and own nothing of their own. They share a close, almost sisterly bond with Penelope, who encourages them to gather intelligence on the unwanted guests occupying the palace. From the afterlife, they act as a chorus, fiercely criticizing Odysseus and demanding justice for their treatment.

Helen of Troy is Penelope's cousin and the famously beautiful wife of Menelaus. Deeply vain and continuously seeking male attention, she views the wars fought over her as personal tributes. She regularly directs pointed insults at Penelope, using her physical superiority to assert dominance and command the center of attention even in the afterlife.

Odysseus is the King of Ithaca, known for his cunning intellect and intense persuasive charm. He approaches life strategically, treating his wits as weapons and freely utilizing deceit to achieve his goals. While he behaves affectionately toward his new wife, Penelope continuously notes that his actions are carefully calculated to serve his own interests.

The Suitors are a large group of young noblemen who descend upon Ithaca during Odysseus's prolonged absence. Acting under the guise of courtship, they aggressively exhaust the kingdom's resources, disrespect the household, and demand that Penelope choose a new husband from among them. They represent a constant, looming threat to the estate's stability.

King Icarius of Sparta is Penelope's father. Driven by either a misunderstood prophecy or a desire to appease the gods, he attempts to drown his young daughter. After her survival, he exhibits over-affectionate behavior born of guilt, though his early betrayal permanently shapes Penelope's cautious worldview and desire for independence.

Periboea is a naiad, or water nymph, and Penelope's mother. Elusive and emotionally chilly, she prefers swimming over maternal duties and possesses a short attention span. She offers her daughter practical, emotionally detached advice on her wedding day about behaving like water to circumvent obstacles.

Eurycleia is the former nurse who raised Odysseus and remains his fiercest loyalist. She effectively runs the Ithacan household, performing the domestic duties that a new bride would typically handle. While she helps Penelope adjust to the kingdom and assists in child-rearing, she also jealously guards her own inside position with the royal family.

Anticleia is Odysseus's mother. She disapproves of her son's choice of bride and makes no effort to welcome Penelope or instruct her in the customs of the Ithacan palace. Her cold hostility strongly contributes to Penelope's profound sense of isolation in her new home.

Laertes is Odysseus's father and the former ruler of Ithaca. Following his wife's passing and his son's prolonged absence at war, he retreats from palace life to work on a farm like a peasant. His departure effectively leaves the management of the kingdom entirely to his daughter-in-law.

Telemachus is the only son of Penelope and Odysseus. Raised in his father's absence and heavily indulged by the palace staff, he grows into a headstrong and somewhat spoiled teenager. As he reaches adolescence, he becomes increasingly resentful of his mother's patient management style and seeks to assert his own authority by making reckless decisions.

Antinous is one of the most prominent noblemen vying for Penelope's hand. In the afterlife, he still bears the appearance of a violently wounded corpse. He represents the overarching greed of the unwanted guests, driven purely by a desire for Ithaca's wealth rather than any genuine affection for its queen.

Amphinomus is noted as the most polite of the men attempting to court Penelope in Ithaca. Because of his relatively courteous demeanor, historical gossip falsely suggests he and Penelope engaged in a romantic affair, a rumor she strongly denies.

Melanthius is a goatherd employed by the Ithacan estate. He aligns himself with the hostile noblemen occupying the palace, actively betraying his masters to assist the intruders with weapons and supplies.

Iphthime is Penelope's sister. She manifests in a vision to offer partial comfort regarding her nephew's safety, though she remains firmly tight-lipped about the whereabouts of her brother-in-law, showcasing the frustrating nature of divine or supernatural communication.

Menelaus is a prominent Greek leader and the successful claimant for Helen's hand in marriage. His union ultimately triggers a massive conflict when his wife departs for Troy.

Paris is a prince of Troy whose decision to run off with the famously beautiful Helen initiates the decade-long Trojan War, pulling leaders from across the region into a massive conflict.