Arus
The main hero of the story, and Crown Prince of the Kingdom of Carmen (built upon the remains of Baramos's Castle). His caretakers, Tarkin and Lunafrea, spirited him away from the kingdom shortly after he was born, to escape the monsters working under Imagine that sought to take him and twist him to their own ends. He was raised in a remote hermitage together with Kira, and after they were forced to leave it behind, they both trained under the legendary sage Quadal as their first baby steps towards true warriorhood. Arus is a direct descendant of the Hero Arel; a hero by both birth and nature. He's a friendly, caring guy who will righteously stand tall when faced against evil. In addition to being a competent swordsman, Arus has a very limited number of spells under his belt, mainly low-level fire magic and the Lightning magic unique to the hero class. He also carries the bottom half of the Emblem of Roto, which acts as a protective ward for him.

Kira
Arus's best friend, a sturdy swordfighter with a heart of gold. His family lived in a hidden Sword Master training grounds built in the forests near Samanosa, but the villagers there were slaughtered by a cursed sword when he was just an infant. He was carried to safety by his dying mother before Giran found and adopted him, eventually winding up being raised alongside Arus. He is one of two living descendants of Fulcas the Sword Master, one of Roto's three companions. After going off by himself on a journey to overcome his own inner demons, he gains a special set of armor which he uses for the rest of the series, called Black Caesar. Kira is a talented swordsman who combines powerful sword techniques with the Falcon Sword he wields. He inherits the position of Sword Master, one of the three Masters destined to fight at the legendary hero's side.

Yao
A powerful martial artist, and another successor to one of the three Master positions: Fist Master. She is a descendant of Fon, the original Fist Master, who also fought by the hero Roto's side. Yang was born and raised in a hidden village south of Kazave that Fon had established long ago as a training grounds for future Fist Masters. When she first gets involved with the story, she is on a journey to get revenge against the man who slaughtered her village three years prior. She has a cheerful disposition, but a hot temper as well. Her mastery of ki-based martial arts techniques makes her an invaluable ally.

Poron
A young boy from Tedon (Tedanki) whom the group first meets as a Goof-off, but in a shocking(?) twist, winds up actually being a sage. He inherits the position of Wisdom Master that the sage Quadal, another one of Roto's companions, once held. Poron is not a descendant of Quadal, given that Quadal never had any kids. Rather, he's the son of a cleric and wizard, a boy in whom Quadal saw tremendous magical potential, more than enough to surpass his own. Quadal passed on all of his memories, experiences, and knowledge - his very essence, to Poron. He has a highly unique spell casting talent passed down from Quadal; he can cast two spells simultaneously, and mix/combine their effects to create entirely new spells. By casting fire magic and combining it with wind magic, he can create a cyclone of flame. By double-casting Dragoram (BeDragon), he can become an extra-powerful two-headed dragon (as seen in one of the illustrations posted on the site). Personality-wise, Poron is pretty obnoxious as a goof-off, but tones down considerably as a sage. He's a generally good-natured, diligent boy.
As a footnote, they keep going back to how much Poron physically resembles Quadal. As a kid in the beginning, he looks identical to an old portrait in Louida's bar featuring Quadal as a young priest. As an adult at the very end of the story, he looks exactly like the more adult Quadal that Arus and co. dealt with back at the beginning of the series. His third eye symbolizes enlightenment.

Teeah
A longtime friend of Arus since childhood, a cute fairy who makes up for what she lacks in size with a fiery spirit that any human would be hard pressed to match. In battle, she pokes things with needles. Later on, she gets a weapon called the Titan Needle, which can inject some life into inanimate objects in order to create powerful golems.

Asteea
Asteea is a descendant of a third, mostly-forgotten line of Roto's descendants. While Roto's two sons, Loran and Carmen, established kingdoms on the surface world, his daughter Flora quietly remained in Radatome and started a family of her own. Asteea is the youngest descendant of that bloodline. She is female, a fact that wasn't made plainly and abundantly clear until EOR Returns and the newer sequel series. She was initially the younger of two siblings, but her older brother Aroyce, Crown Prince of Radatome, died at the hands of Dragon Lord's henchmen. After this, she cut her hair and took up a sword, as well as the sacred jewel passed down through their family, the jewel that links the two halves of the Emblem of Roto. Like Arus and Jagan, Asteea wields devastating lightning magic as well. She has a serious personality and quiet determination about her, yet still has the compassion to come to the aid of anyone who needs it, no matter who it may be.

Quadal
A powerful sage, and one of three sacred warriors of legend who once fought against Baramos and Zoma alongside the Hero Roto (whose real name was Arel). He grew from a wimpy little cleric into a great sage over the course of their journey. Just before the four allies parted ways, he had a premonition of danger in the distant future. When he discussed it with the others, they agreed to take a vow that whenever evil reared its ugly head again, the three Masters would come to stand by the Hero's side once more. Quadal was aware of the fact that he couldn't bear children, and he knew it would take a long time to find a worthy successor to his name and power. To cope with this, he used the magic of the Sands of Time to preserve his youth. He discovered the concept of combination magic when his spells mingled with those of his wife Mana's, resulting in entirely new spell effects; he would later pass this knowledge along to Poron. He briefly took Arus and Kira in to give them rigorous training, culminating in Arus discovering how to use the hero's own trademark lightning magic, the spell Raideen. Once Quadal was satisfied that his job was done, he shut himself away in his Mirage Tower and used one final spell to transfer his entire essence to Poron, in the form of a shooting star. So, he ultimately lives on as a part of Poron.

Tarkin
Former High Priest of Carmen, one of Arus's two main caretakers who whisked him away from Carmen when monsters overran it. He's a cheerful old man that others treat with respect.

Lunafrea
Arus's other caretaker, who risked her life to snatch the infant Arus out of the hands of monsters and flee the castle into the desert. She is the daughter of Volgoy, General of Carmen's standing army. Her father gave her a Ring of Light, which later gets passed down to Arus. She spends years training Arus and Kira in swordplay while they live hidden away in a forest hermitage, and acts as the closest thing they have to a mother figure.

Giran
Kira's caretaker, a drifter and merchant who happened upon a dying woman in the forests of Samanosa holding an infant in her arms. He agreed to take care of the child, whom the mother called Kira, claiming that he was destined to one day inherit a great title. Through either design or coincidence, he was the one to get Tarkin and Lunafrea away from Carmen when they fled the kingdom, using his desert landship. He's an easygoing man with a relaxed personality, competent in his own right.

Tao
The old hermit who sheltered Arus and Kira as children, along with their caretakers. He kept a sacred orb in his forest cabin that repelled evil and protected them from dark scrutiny, until the day it got destroyed. That was the point when the group could no longer hide, and set out on their journey. Tao gave Arus's group steadfast support while he traveled with them, but parted ways with them early on to remain behind in Assaram and take care of Giran after he was seriously injured.

Volgoy
Head General of the Carmen Army, and loyal friend to King Carmen. When the castle was overrun by monsters, he remained behind as ghosts of the fallen Carmen soldiers' spirits drove the monsters out. Now blind, he has spent the past decade and a half living there on his own, with only the restless spirits of the dead to keep him company.

Leviathan
The ruler of the Seven Seas, the Sea Lord Leviathan comes from a long line of proud kings who never bowed to any outside threat. Even Zoma didn't attempt any aggression against the monsters of the sea during his time. When Imagine tried to force Leviathan to submit to his will, Leviathan refused and defied him. As a result, Imagine sealed him away into a minuscule cellular body, stripping away his capability to reason or think. When unleashed upon the seas trapped in this form, he grew into an all-consuming monstrosity that Arus and co. were forced to face.

Pearl
Fiancee to Leviathan; a Nereid who devoted all of her time and energy to protecting Leviathan's sealed form before Gorgon and Dragon Lord kicked her out and released him.

Louida
Owner and proprietor of Louida's Bar in Aliahan, the historical one-stop shop for all of Aliahan's party member recruiting needs. She is a descendant of the original Louida that ran the place back in Arel's day.

Iyo
The Queen of the Golden Land of Zipang, a fiery, hot-tempered girl who fights to protect her country. She wields a powerful fan called the Reppu Tatsumaki Sen (Gale Tornado Fan), which she uses for fire and wind-based combat techniques.

Rihaku
An old alchemist who lives in Zipang. He is a direct descendant of Muraku, the legendary swordsmith who made the Sword of Kings out of Orichalcum. Rihaku is also a faithful retainer to Iyo.

Izuna
Rihaku's star pupil, a practitioner of Eastern magic. He's engaged to Iyo, but is prone to bouts of insecurity and jealousy when he sees Iyo hanging out with Arus and co.

Freya
Jagan's mother, the wife of the King of Loran. It was thought that she had died at the hands of Dragon Lord 15 years ago, but she was actually locked away in the prison beneath Loran Castle. She is now blind, and lives quietly in prison being cared for by a monster attendant named Lilypa.

Imagine
A malevolent entity who came to this world 12,000 years ago. He seeks to reduce the world to an empty, chaotic void.

Dragon Lord
Yes, that Dragon Lord. He serves under Imagine, and commands armies of reptilian creatures. Though his fearsome dragon forces managed to successfully take Radatome Castle, he is the only one of Imagine's top four generals to actively question his orders.

Death Lord Gorgona
A scheming, spiderlike creature who mostly lurks in shadows. He commands armies of the undead, and leaves pestilence and disease in his wake. He was the one initially responsible for bringing Imagine into this world.

Beast Lord Gnon
An anthropomorphic beastman with the wings of a bird and the mane and legs of a lion. He wields a deadly scythe that he calls the Harken, and commands an army of monsters from beast families. He is a fierce warrior who relishes combat and never turns from a fight.

Demon Lord Jagan
Initially, Imagine had wanted to christen Arus with the name Jagan, and sent monsters into Carmen to do this. When this plot failed, they wound up using the name Jagan for another one of Roto's successors, the newly born Crown Prince of the Kingdom of Loran, whose true name was Aran. He was raised by Imagine's top lieutenants in the overrun Loran Castle(now their central headquarters), and trained to be one of Imagine's finest warriors, earning the title of Demon Lord Jagan, commanding an army of humanoid killers. He uses Roto's own armaments - the Sword of Kings, the Shield of Heroes, and the Armor of Light (the Helm was broken in an earlier incident). His Armor of Light was stained by Imagine's blessing of blood, dying it red and lending it demonic properties. In addition to this, Jagan wields a dark version of the hero's lightning magic. He is a proud, arrogant warrior with a mean streak, and has proven himself to be one of Imagine's most capable, ruthless, and ambitious men. He also carries the bottom half of the Emblem of Roto.

Servein
A cold, bloodthirsty warrior who slaughters anyone in his path. He holds claim to both the title and the techniques of a Sword Master before Kira ever does. His claim is rightful, since he is in fact Kira's older brother, who slaughtered the people of their village at the behest of Neqros, the cursed sword he was unlucky enough to stumble across.

Neqros
Self-proclaimed King of the Demon Sword family, it is a cursed blade with a will of its own which it exerts on its user. It answers to Imagine, and seeks to kill off those with the potential to become the next Masters, using the Sword Master Servein as its means of doing this.

Omokane
Zipang's High Priest, actually a Lumpus-like creature in disguise. He deceives Arus and co. into unwittingly releasing the seal on the Yamata no Orochi, the 8-headed dragon that terrorizes Zipang's countryside.