Note: Fictional characters in italic, the rest are historical
Major Characters
- Harold Godwinsson: Earl of Wessex. Becomes the last Anglo-Saxon King of England.
- Aldbald: Tailor's apprentice in Coventry and servant to Tostig Godwinsson.
- Lady Godiva: Wife to Earl Leofric. Becomes head of House of Mercia when Leofric dies.
- Leofric: Earl of Mercia. Helps to raise ransom for Aethlered's kin in exile in Hungary. Dies in 1057.
- Aelfgar: Son of Leofric and Godiva. Earl of East Anglia. Becomes Earl of Mercia in 1057.
- Hildreth: Maidservant to Lady Godiva.
- Gunthnot: Guardian (housecarl) of Lady Godiva.
- Davydd: Minstrel of Wales and friend of Lady Godiva.
- Caedwig: Monk of St. Omer in Flanders, becomes messenger of King Edward and the King's confessor. Friend to Aldbald. In love with Queen Edith.
- Edward the Confessor: King of England. Son of Aethelred.
- Edith: Wife of Edward and Queen of England. Daughter to Godwin and brother to Harold, Tostig, Gyrth and Leofwine.
- Wulfstan: Bishop of Worcester and good friend of Harold Godwinsson.
- Robert FitzWimark: Half-Breton, half-Norman. Good friend of Harold Godwinsson.
- Tostig Godwinsson: Earl of Northumbria. Second-oldest son of the House of Wessex.
- Edyth Swanneshales (Swan-neck): Cousin and mistress of Harold Godwinsson.
- William: Duke of Normandy; overlord of Ponthieu, Flanders, Brittany, Main and Anjou.
- William FitzOsbern: William's steward and right-hand-man.
- Hugh of Avranches: Young Breton, becomes close companion of William.
- Haraald Hardrada (the Ruthless): King of Norway.
Minor Characters met or mentioned
- Aedward the Exile: Grandson of King Aethelred. Dies in 1057, the same year he returns from exile.
- Edgar the Aetheling (the heir apparent): Great-grandson of King Aethelred. Born and raised in exile in Hungary.
- Aldred: Archbishop of York and good friend of Leofric. Brings Aedward and Edgar back from Hungary.
- Edwin: Son of Aelfgar. Earl of Mercia in 1066.
- Morcar: Son of Aelfgar. Earl of Northumbria in 1066.
- Aldgyth: Daughter of Aelfgar. First betrothed to Gruffydd of Wales, then to Harold Godwinsson.
- Gyrth Godwinsson: Earl of East Anglia in 1066.
- Leofwine Godwinsson: Earl of Kent in 1066.
- Wulfnoth: Youngest son of Godwin, living as guest/hostage of Duke of Normandy.
- Haakon: Son of Sweyn Godwinsson, living as guest/hostage of Duke of Normandy.
- Stigand: Archbishop of Canterbury, and Bishop of Winchester. Old friend of Godwin family.
- Gruffydd: King of Wales. Interested in Lady Godiva, especially after Leofric dies.
- Rodgain the Relentless: Norwegian chieftan and companion of Haraald Hardrada.
- Uthgar: Northman of Orkney and friend of Aldbald.
- Jurgane: Flemish companion of Tostig Godwinsson.
- Ranulf: Flemish companion of Tostig Godwinsson.
- Bufread Bloodyaxe: Housecarl of Tostig Godwinsson.
- Judith: Wife of Tostig Godwinsson, related to Count Baldwin of Flanders.
- Matilda: Daughter of Count of Flanders and Wife of William. Cousin to Tostig's wife Judith.
- Agatha: Daughter of William.
- Conan: Count of Brittany, underlord to William.
- Guy: Count of Ponthieu, underlord to William.
- Baldwin: Count of Flanders, underlord to William.
- Lanfrac: Abbot of Caen and friend to William of Normandy.
- Odo: Bishop of Bayeux and half-brother of William.
- Robert of Mortain: Half-brother of William.
- William of Poitiers: The chaplain of the Duke of Normandy.
- Walter Gifford: Norman lord and close companion of William.
- Roger of Beaumont: Norman lord and close companion of William.
- Hugh of Montfort: Norman lord and close companion of William.
- Montgomery: Norman lord and close companion of William.
- Eustace: Count of Boulogne. Husband to Godgifu, sister of King Edward of England.
- Godgifu: Sister to Edward of England and wife to Count Eustace.
- Svend: King of Denmark and cousin to the Godwins.
- Malcolm: King of Scotland.
- Elizabeth of Novogrod: Primary wife to King Haraald of Norway.
- Thora: Secondary wife of King Haraald of Norway.
- Magnus: Son of King Haraald of Norway.
- Olav: Son of King Haraald of Norway.
- Paul: Son of Norwegian Earl of Orkney and companion of Haraald.
- Erlend: Son of Norwegian Earl of Orkney and companion of Haraald.
Important persons dead before the story begins
- Aethelred Unraed (without council): Descendent of Alfred the Great and King of England before the Danish years.
- Edmund Ironside: Half brother of King Edward. Died before 1057.
- Swyen Forkbeard: Danish King who sent Aethelred into exile in 1013.
- Canute: Son of Swyen Forkbeard, conquered England and became first Danish King of the realm.
- Godwin: Earl of Wessex through the years of Danish rule in England. Died before 1057.
- Emma of Normandy: Great Aunt to William. Died before 1057.
- Robert the Devil: Father of William. Died before 1057.
Unmentioned people in Godiva and the Golden Dragon
- Alfred: Brother of King Edward. Died before 1057.
- Svein Godwinsson: Oldest son of Godwin. Died before 1057.
- Gytha: Wife of Godwin.
- Gunnhildre: Youngest daughter of Godwin. Too young to influence events of the time.
- Children of Harold and Edyth: Illegitimate children, and probably too young to influence events of the time.
- Herleve: Mother of Duke William.