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Of the King's party
- King Henry the Fourth – King of England; also known as "Bullingbrook" or "Bolingbroke", after his place of birth in Bolingbroke, Lincolnshire. He is also called "Lancaster" by Glendower, because he was Duke of Lancaster before becoming king
- Henry, Prince of Wales – eldest son of Henry IV; nicknamed "Hal" or "Harry", and is sometimes called "Harry Monmouth" after his birthplace
- John of Lancaster – represented in the play as the King's second son, although he was actually the third; called "John" by Hal but has "Lancaster" for a speech heading (confusingly, since Glendower refers to Henry IV as "Lancaster")
- Earl of Westmorland
- Sir Walter Blunt
Rebels
- Henry Percy, Earl of Northumberland
- Thomas Percy, Earl of Worcester – Northumberland's brother
- Henry Percy – Northumberland's son, surnamed Hotspur
- Edmund Mortimer, Earl of March – Hotspur's brother-in-law and Glendower's son-in-law
- Owen Glendower – leader of the Welsh rebels
- Archibald, Earl of Douglas – leader of the Scottish rebels
- Sir Richard Vernon
- Scroop, Archbishop of York
- Sir Michael – a friend to the Archbishop of York
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- Lady Percy – Kate; Hotspur's wife and Mortimer's sister
- Lady Mortimer – Glendower's daughter and Mortimer's wife
Eastcheap
- Sir John Falstaff – a cowardly fat knight who befriends Prince Hal; a fictional character, he was originally called "Oldcastle" and distantly based on Sir John Oldcastle. King's Men actors who played the part of Falstaff included John Heminges, John Lowin, and Charles Hart.
- Poins – also called Ned and Yedward
- Bardolph
- Peto
- Mistress Quickly – hostess of the Boar's Head Tavern, where Hal and his friends congregate
- Francis – tapster
- Vintner – tavern keeper
- Gadshill
- Two Carriers
- Ostler
- Chamberlain
- Sheriff
- Travellers
- Lords, Officers, Drawers, Messengers, and Attendants
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