Robin of Loxley, son of Aelrik of Loxley. The original Robin of Sherwood. Played by Michael Pread
Robert of Huntingdon, son of the Earl of Huntingdon. The second incarnation of Robin of Sherwood, played by Jason Connery, son of Shaun.

Will Scarlet. Former soldier, now the hot-headed member of Robin's band. Played by Ray Winstone
Little John. Former shepherd until he was bewitched by the Baron de Belleme and made to be his minion. Rescued by Robin and joined his band. Played by Clive Mantle
Nasir. A saracen who was in the service of the Baron de Belleme until Robin killed him, and Nasir joined Robin. Played by Mark Ryan
Much. The son of the miller who adopted Robin of Loxley after his father was killed. When the miller was killed by Gisburne, Much stayed with Robin in Sherwood. Played by Peter Llewellyn Williams.
Friar Tuck. 'The Fighting Monk'. Assigned to look after Marion, and totally devoted to her. When Marion joined Robin, Tuck followed. Played by Phil Rose

Marion of Leaford, daughter of Richard of Leaford. Fell for the charms of Robin (both incarnations), and left her wealthy Father to live with him and the men in Sherwood instead of becoming a nun. Played by Judi Trott.

Sir Guy of Gisburne. The ill fated and often mocked captain of the guard in Nottingham. Constantly used by the Sheriff as a scapegoat, never recieving a kind word. Played by Robert Addie
The Sheriff of Nottingham. Robert de Reinault. Constantly scheming and failing to catch Robin Hood. A ruthless man, but you can't help feeling sorry for him due to his bad luck. Played by Nickolas Grace