- Titus Andronicus – renowned Roman general
- Lucius – Titus's eldest living son
- Quintus – Titus's son
- Martius – Titus's son
- Mutius – Titus's son
- Young Lucius – Lucius's son and Titus's grandson
- Lavinia – Titus's daughter
- Marcus Andronicus – Titus's brother and tribune to the people of Rome
- Publius – Marcus's son
- Saturninus – Son of the late Emperor of Rome; afterwards declared Emperor
- Bassianus – Saturninus's brother; in love with Lavinia
- Sempronius, Caius and Valentine – Titus's kinsmen
- Æmilius – Roman noble
- Tamora – Queen of the Goths; afterwards Empress of Rome
- Demetrius – Tamora's son
- Chiron – Tamora's son
- Alarbus – Tamora's son (non-speaking role)
- Aaron – a Moor; involved in a romantic relationship with Tamora[3]
- Nurse
- Clown
- Messenger
- Roman Captain
- First Goth
- Second Goth
- Senators, Tribunes, Soldiers, Plebeians, Goths etc.
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