Saturninus: the wicked eldest son of Rome’s deceased emperor
Bassianus: the younger son of Rome’s deceased emperor who is in love with and weds Titus Andronicus’ daughter Lavinia
Titus Andronicus: Roman general who is victorious over the Goths
Marcus Andronicus: Titus Andronicus’ brother who is a tribune of Rome
Lucius: one of four of Titus Andronicus’ twenty-five sons who has survived Rome’s military campaign against the Goths and who eventually becomes Rome's new emperor
Tamora: Titus Andronicus’ captive and the Queen of the Goths who becomes the Empress of Rome
Demetrius: Tamora’s surviving son who kills Bassianus and rapes and disfigures Lavinia
Chiron:another of Tamora's suriviving son who kills Bassianus and rapes and disfigures Lavinia
Mutius: another of four of Titus Andronicus’ twenty-five sons who has survived the war against the Goths but who dies at his father’s hand for defying his father with regards Lavinia's love for Bassianus
Martius: another of four of Titus Andronicus’ twenty-five sons who has survived the war but who dies when falsely accused of killing Bassianus
Quintius: another of four of Titus Andronicus’ twenty-five sons who has survived the war against the Goths and who dies when falsely accused of killing Bassianus
Aaron: a Moor who is Tamora’s lover and her faithful servant in villainy
Messenger: the messenger who, with remorse and regrets, returns to Titus his chopped off hand, in addition to the chopped off heads of his two sons
Boy: the son of the exiled Lucius
Nurse: Tamora’s nurse who dies for knowing the existence of Aaron and Tamora’s new born black child
Publius: Marcus’ son who joins his father and others in support of Titus whose madness must be indulged
Clown: a clown who delivers a message to the Emperor on behalf of Titus only to die for rendering the service
Aemilius: a messenger who informs the Emperor of the Goth’s impending invasion of Rome
Goth: one of the Goths led by Lucius who exhorts Lucius to lead on
Second Goth: the Goth who apprehends Aaron while straying from the main army