Pyrocles / Zelmane
A prince disguised as an Amazon to approach Philoclea.
Musidorus / Dorus
Pyrocles's cousin, disguised as a shepherd in pursuit of Pamela.
Philoclea
Basilius's younger daughter and Pyrocles's beloved.
Pamela
The elder princess, politically and intellectually formidable, loved by Musidorus.
Basilius
The Arcadian king whose retreat from government triggers private and public disorder.
Gynecia
The queen, perceptive enough to see through Zelmane's gender disguise but unable to master her desire.
Amphialus
A conflicted warrior whose love for Philoclea helps drive the abduction and siege.
Cecropia
Amphialus's ambitious mother and architect of the captivity.
Euarchus
The severe ruler who judges the princes during the apparent-murder crisis.
Helen of Corinth
The queen whose loyalty to Amphialus is rewarded in the continuation's settlement.