Keith: 1st in command of the Voltron Force.  Controls the Black Lion.  Keith makes most of the crucial decisions when Voltron is in battle.  The consumate leader, when all else fails, Keith can be depended on to help the team pull out of a tough situation.  While sometimes cold and hard on his teammates, his motivations are true and genuine.
 

Lance: Second in command.  Controls the Red Lion.  Lance is a joker.  While Keith is the consumate professional in everything he does, Lance is the opposite.  When Lance needs to, he can be mature, but usually Lance uses humor as his way of dealing wiith things.  Lance also has a good nose for spotting out evil and danger when most others don't see it.  His fighting skills are only second to Keith.
 

Princess Allura: Third in command in the beginning of the series.  Controls the Blue Lion.  Princess Allura took Sven's spot in the Voltron Force when he was injured and sent to Planet Ebb.  While the Princess could be the whiniest member of the force and too many times she was the "damsel in distress", she was the only other member besides Keith to control the Black Lion.  During the end of the first season, she seemed to equal and maybe even surpass Lance into the 2nd Command spot.  Always thinking of her people she ruled, her heart was as good as gold.  Her only conflict was her role with the force vs. her role as Princess of Arus.
 

Pidge: Fourth in command.  Controls the Green Lion.  Pidge is the smallest and most agile member of the Voltron Force.    He also has a special relationship with the Space Mice, as he, along with the Princess, can actually communicate with them.  His best friend on the force is Hunk.  Along with Lance, Pidge is also a joker.
 

Hunk: Fifth in Command.  Controls the Yellow Lion.  Hunk is the strongest member of the team.  Hunk is often impulsive, and his temper can get the best of him.  Only Pidge can calm him down when this occurs.  Hunk also has a big heart, and only his love for food can equal it.
 

Sven:  Former Second In Command.  Formerly Controlled the Blue Lion.  Sven was the eldest member of the Voltron Force.  He was also noted for his bravery.  Sven was injured in the sixth episode when he fought Haggar the witch by himself and a robeast struck him from behind.  He returns later in the series to get revenge on Prince Lotor.

King Zarkon:  Head of the Doom Empire.  King Zarkon is ruthless, as he has enslaved many of the people in the planets of the universe.  King Zarkon's main goal is to conquer Planet Arus and destroy Voltron.
 

Haggar: Creator of Robeasts.  Haggar is the ultimate evil witch.  She routinely makes Robeasts to defeat the mighty Voltron, but every time she fails.  Haggar was also very smart, as she played up to both King Zarkon and Prince Lotor's good side.
 

Prince Lotor: Crowned Prince of Planet Doom.  Lotor is ruthless, strong, and devious.  His lust for power can only be equaled by his lust for Princess Allura.  His long term goal is to take over for his father as King of the Doom Empire.  He is equal to Keith within his fighting skills.  He is constantly in torment because of his need to please his father versus his need to overthrow his father and control things himself.  Lotor is the main protagonist to the Voltron Force.

Coran:  Diplomat of the Castle of Lions.  Coran is the "unofficial" member of the Voltron Force.  He stays behind on most all missions to run Castle Control.  He has undying loyalty to Princess Allura.  He helps the Princess to not neglect her duties.
 

Nanny:  Self Explanatory.  Nanny took care of Princess Allura as a little girl, and she sees herself as her mother.  Nanny helps also to keep the boys in check when they get a little "rambunctious".  Nanny's intentions are good, but many times she can be stubborn.
 

Space Mice:  Comic Relief.  The Space Mice helped the Princess get through Zarkon's invasion.  They provided entertainment for her.  Only Pidge and the Princess are able to talk to the Space Mice.  The Space Mice ahs gotten the Voltron Force out of many jams because no one expects them to be any kind of threat.  They even have their own mouse plane equipped with weapons.
 

King Alfor:  Former King of Planet Arus.   King Alfor is the dead father of Princess Allura.  He will appear when the force goes to his tomb and prays for his guidance.  Many times he appears in Voltron the machine to help the team out of a tight situation.