A group of characters who provide alternate narration in the story, acting as a chorus that comments on events and questions their fates; they were close companions to Penelope and worked in her household.

Penelope's father, a Spartan king with a complex relationship with his daughter, marked by early tension due to mysterious motives.

Penelope’s mother, a naiad whose elusive nature and advice to be like water leave a lasting impression on Penelope.

Penelope’s cousin, celebrated for her beauty and vanity; her actions contribute to significant events such as the Trojan War.

Penelope’s husband, the king of Ithaca, shown to be cunning and adept at storytelling, which forms the basis of his complex interactions with others.

The nurse who raised Odysseus and serves as a protective figure, also playing an influential role in Penelope’s life on Ithaca.

Odysseus’s mother and Penelope’s mother-in-law, whose sickly disposition and lack of support influence Penelope’s early life in Ithaca.

Odysseus’s father and Penelope’s father-in-law, who withdraws from palace life, prompting Penelope to oversee the kingdom in his stead.

The son of Penelope and Odysseus, whose headstrong actions and desire for agency are significant as he comes of age.

A group of young men seeking Penelope’s hand in marriage during Odysseus’s absence, making themselves unwelcome guests in the palace.