Below is a list of all the major and minor characters in the book, in order of appearance, with plot detail.
- Elijah Baley A Plainclothesman (police detective) who works on Earth. He is called to solve the case on Aurora.
- Jessie Baley Elijah’s wife. (mentioned only)
- Bentley Baley Elijah’s son.
- Gladia A woman Baley met on Solaria, who is now living on Aurora. She borrowed from Fastolfe the now-destroyed Jander Panell.
- Wilson Roth The new Commissioner and Baley's boss ever since Julius Enderby's resignation two and a half years before the book's events.
- Lavinia Demachek Undersecretary.
- Albert Minnim Superior of Lavinia. (mentioned only)
- Han Fastolfe A politician on Aurora who is accused by extremists of destroying a humaniform robot. As the leading theoretical roboticist on Aurora, he was the one who programmed Daneel, along with some 56 other robots who help around his house. He has two daughters, and is a Humanist (one who believes all human beings have the right to explore the Galaxy).
- R. Daneel Olivaw Ex-partner of Baley, he is the first successful humaniform creation of Fastolfe.
- R. Giskard Reventlov A robot Baley meets on the way to Aurora. Constructed by Fastolfe, he is his creator’s right-hand robot.
- Jander Panell The robot that was destroyed on Aurora. Originally owned by Fastolfe, he was lent to Gladia for use.
- Roj Nemennuh Sarton The designer of Daneel. He was murdered on Earth. (mentioned only)
- Fanya The current wife of Fastolfe. (mentioned only)
- Pandion A robot serving Gladia.
- Borgraf A robot serving Gladia.
- Vasilia Aliena Fastolfe’s daughter, whom he raised himself against Auroran custom. She is a professional roboticist and is part of the Robotics Institute of Aurora against Fastolfe.
- Lumen Fastolfe’s daughter with whom he has little contact. She is running for political office on a Globalist ticket, a party that believes Aurorans deserve the Galaxy. (mentioned only)
- Santirix Gremionis An Auroran who repeatedly offered himself to Gladia. He is a hair and clothing designer, and was questioned by Baley.
- Brundij A robot serving Gremionis.
- Kelden Amadiro The head of the Robotics Institute of Aurora.
- Maloon Cicis A roboticist with whom Baley spoke to get to Amadiro.
- Rutilan Horder Chairman of the Legislature of Aurora.
