Princess Sofia Balthazar-Winslow Inée Cordova (voiced by Ariel Winter) is an 8-year-old girl. A kind and adventurous village girl who becomes a princess after her mother, Miranda, marries King Roland II. Sofia is a mix of ethnic nationalities.
Princess Amber Winslow (voiced by Darcy Rose Byrnes) is Sofia's older stepsister and James' twin sister. She used to be vain, spoiled, and impatient, but over the course of the series Sofia helps her become a better person and friend and she develops a love of astronomy and adventure.
Prince James Winslow (voiced by Zach Callison in seasons 1–2, Tyler Merna in seasons 2–3, Nicolas Cantu in seasons 3–4, Yonas Kibreab in Royal Magic) is Sofia's older stepbrother and Amber's twin brother, as well as Roland's son and Miranda's stepson, he wants to be a knight when he grows up, he is adventurous, playful and outgoing.
Queen Miranda Balthazar-Winslow of Enchancianée Cordova (voiced by Sara Ramirez) – Born Miranda Cordova, she is Sofia's mother, is Roland's current wife, and the stepmother of the royal twins. She is a loving mother who loves her daughter and stepchildren.
King Roland Winslow II of Enchancia (voiced by Travis Willingham) – Born Roland Winslow, he is Sofia's stepfather, Miranda's husband, the father of the royal twins, and the ruler of Enchancia.
Cedric (voiced by Jess Harnell) is the royal sorcerer of Enchancia, who the Good Fairies consider to be a great sorcerer. He is the son of the previous royal sorcerer, Goodwyn the Great, who has since retired along with Cedric's mother, Winnifred the Wise. He has a sister called Cordelia.
Baileywick (voiced by Tim Gunn) is the castle steward, he tries to do his job well, but can be overprotective of Sofia. He has an older brother, Nigel.
Clover (voiced by Wayne Brady) is a rabbit and friend of Robin and Mia.
Robin (voiced by Meghan Strange) is a robin and friend of Clover.
Mia (voiced by Ashley Eckstein) is a bluebird and friend of Clover.
One of the powers of the Amulet of Avalor is that it can summon Disney Princesses whenever Sofia needs help most desperately. So far, ten Disney Princesses have been summoned by the Amulet of Avalor.
Cinderella from Cinderella (voiced by Jennifer Hale) helps Sofia make amends with Amber and become true sisters. She sings the song "True Sisters".
Jasmine from Aladdin (speaking voice by Linda Larkin and singing voice provided by Lea Salonga) teaches Sofia and Amber how to tame a wild carpet and to not be afraid of trying new things. She sings the song "The Ride of Our Lives".
Ariel from The Little Mermaid (voiced by Jodi Benson) encourages her new friend Sofia to enlist Cora to help rescue Oona, teaching her that the love of family is held by all. They both sing the song "The Love We Share".
Snow White from Snow White and the Seven Dwarfs (voiced by Katherine Von Till) teaches Sofia the importance of trusting one's instincts after she suspects that a visiting sorceress is not who she claims to be.
Mulan from Mulan (speaking voice by Ming-Na Wen and singing voice provided by Lea Salonga) teaches Sofia and her friends that they are stronger than they know. She sings the song "Stronger Than You Know".
Rapunzel from Tangled (voiced by Mandy Moore) shows Sofia and Amber how their relationship has grown despite Amber's theft of the amulet, also teaching Amber how to break the curse of Princess Ivy and regain Sofia's trust. She sings the song "Dare to Risk It All".
Tiana from The Princess and the Frog (voiced by Anika Noni Rose) teaches Sofia that the most important part of giving gifts is that they come from the heart. She sings the song "From the Heart".
Merida from Brave (voiced by Ruth Connell) teaches Sofia confidence so she can save Minimus and Mazzimo and fulfill her task as the Storykeeper.
The spirits of all ten Princesses later make a non-speaking cameo on the series finale, to encourage Sofia one final time in her confrontation with Vor.
Olaf from Frozen (voiced by Josh Gad) is summoned by the Amulet after it is affected by Miss Nettle's Crazy Crystals.
Merlin from The Sword in the Stone (voiced by Jeff Bennett) is a revered wizard who is referenced throughout the series, most often by Cedric, who admires him. He debuts when he invites Sofia and two of her friends to visit him at his home. However, Cedric's niece Calista takes Merlin's wand, which is eventually given to his enemy Morgana.
Archimedes is Merlin's owl companion.
Recurring
Royal Prep Academy
Princesses
Princess Hildegard (speaking voice by Coco Grayson and singing voice provided by Jenna Lea Rosen) is one of Amber's best friends and the princess of Freezenburg. Like Amber, she is snobbish and vain until she befriends Sofia. She has a pet mink named Lulu.
Princess Clio (speaking voice by Harley Graham and singing voice provided by Jenna Lea Rosen) is one of Amber's best friends and the princess of Corinthia. She is ladylike, yet kinder than Amber and Hildegard.
Princess Vivian (voiced by Sabrina Carpenter) is Sofia's friend, who is the music-loving princess of Zumaria. She is usually shy and kind, but she has a great talent for music.
Princess Jun (voiced by Michaela Zee) is a princess from Wei-Ling who is Sofia's classmate and friend.
Princess Kari (voiced by Kiara Muhammad) is a new princess who loves magic and is Sofia's friend.
Princess Zooey (voiced by Fiona Bishop) is a new princess who loves adventure and is Amber and Sofia's friend.
Princess Lakshmi (voiced by Shavanie Jayna)
Princes
Prince Hugo (voiced by Colin Ford in 2013, Grayson Hunter from 2014 to 2015) is a prince who attends Royal Prep. He is initially a bully towards Sofia and James, but after learning the true reason for his personality, Sofia helps Hugo redeem himself and they become friends. He loves ice-dancing, but was afraid of his father's reaction that he kept it a secret until Sofia convinces him to trust his heart.
Prince Axel (voiced by Colin Ford) is Prince Hugo's older brother, who has already graduated from Royal Prep. While his joking personality can annoy Hugo and sometimes hurt his feelings, he truly cares for him.
Prince Zandar (voiced by Maxim Knight in Once Upon a Princess and "Just One of the Princes," Karan Brar in 2013, Cade Sutton in "A Tale of Two Teams," Nathaniel Semsen in "New Genie on the Block") is Prince James' best friend and the prince of Tangu.
Prince Desmond (voiced by Maxim Knight and Joshua Carlon) He was a bit fearful, but he became brave, he is intelligent and always prepared for everything.
Charmswell School
Princesses
Princess Camila (voiced by Aaliyah Magcasi)
Princess Layla (voiced by Mela Pietropaolo)
Princess Zaria (voiced by Eva Ariel Binder)
Princes
Prince Zane (voiced by Kai Harris)
Kings and nobles
Aunt Matilda "Tilly" (voiced by Bonnie Hunt) is King Roland II's sister, Queen Miranda's sister-in-law, James and Amber's paternal aunt, and Sofia's paternal step-aunt.
King Habib and Queen Farnaz (voiced by Sean Schemmel and Nika Futterman)
Jade (voiced by Isabella Acres) is one of Sofia's best friends from the village.
Tyler (voiced by Travis Bryant) is one of Sofia's friends from the village and the only village boy to attend Royal Prep Academy.
Ruby Hanshaw (voiced by Fiona Bishop in Once Upon a Princess and Diamond White in the series) is one of Sofia's best friends from the village.
Helen Hanshaw (voiced by Viola Davis and Dawnn Lewis) the leader of the Buttercup troop and Ruby's mother.
Merpeople
Oona (voiced by Kiernan Shipka) is a mermaid from Merroway Cove who Sofia befriends.
Cora (voiced by Sarah Mitchell) is Oona's older sister, who does not trust Sofia at first, but befriends her after helping her save Oona.
Queen Emmaline (voiced by Jodi Benson) is the mermaid queen of Merroway Cove and Oona and Cora's mother.
Fluke (voiced by Gabe Eggerling) is a merboy from Merroway Cove who was boastful and jealous until an adventure with Sofia and Oona helps him change for the better.
Shelly (voiced by Jenna Lea Rosen) is a tanned skinned mermaid with brown hair, a white top and a blue fin who loves to play the drums, she forms a band with Oona and Flip.
Flip (voiced by Connor Wise) is a light-skinned merman with orange hair and a military green fin who loves to play the flute and forms a band with Oona and Shelly.
Sven (voiced by John Ross Bowie) is a seahorse and friend of Oona.
Slim (voiced by Sean Schemmel) is a pufferfish and friend of Fluke.
Magical persons
Lucinda (voiced by Merit Leighton) is a witch with magic powers whom Sofia befriends.
Lily (voiced by Brennley Brown) is a witch with magic powers whom Lucinda befriends.
Indigo (voiced by Bailey Gambertoglio) is a witch with magic powers whom Lucinda befriends.
Nerissa (voiced by Alyssa Rhoney) is a mermaid Protector sent to find and bring Ursula's necklace to the Mystic Isles.
Villains
Plank (voiced by Phil Morris) is Queen Emmaline's chief advisor, who got a scar on his left arm as a result of the previous encounter with humans. He demands that Queen Emmaline that she uses her trident against humans and their vessels.
Miss Nettle (voiced by Megan Mullally and Anna Vocino) is a fairy who was once an apprentice of Flora, Fauna, and Merryweather, but later sought to surpass them. Like Cedric, she initially seeks to obtain the Amulet. Her ability of "enchanted horticulture" is revealed to have been the origin for breeding Freezenberg's "snowdrop" royal flower, and her antagonism is implied to be resentment over not receiving proper recognition for her efforts.
Rosey (voiced by Pamela Adlon) is a magical talking rose and Miss Nettle's companion.
Slickwell (voiced by Christian Borle) is a young steward who serves King Magnus and seeks to usurp Baileywick's position.
Mamanu (voiced by Angelique Perrin) is an evil sorceress from the kingdom of Hakalo.
Glacia the Ice Witch (voiced by Phylicia Rashad) is a witch who lives on top of a mountain and gives magic to anyone who brings her a gift.
Grimtrix the Good (voiced by Billy West) is the headmaster of Hexley Hall and a friend of Cedric.
Twitch (voiced by Jeff Bennett) is a Strangeling and ally of Prisma, who has the power to transform into any animal and helps her escape by stealing Sofia's Necessi-Key. He and Wormwood become rivals after he allies with Prisma.
Vor (voiced by Paty Lombard) is an ancient enchantress who was previously defeated by the Protectors and imprisoned in the Locket of Vor. In the present day, after Prisma obtains the Locket, Vor manipulates her into obtaining the Wicked Nine to free her. After escaping, Vor possesses Prisma before being vanquished by Sofia.
Indigo (voiced by Bailey Gambertoglio) is an evil and mischievous witch who is Lily's sister and interferes with the witches' festival.
↑Flora, Miss. "Substitute Cedric". Sofia the First. Very impressive.
Fauna, Miss. "Substitute Cedric". Sofia the First. Only a great sorcerer could teach a spell without waving a wand.
(both responding to Sofia saying Cedric taught them all the spells (and her friend adding, the Sorcerer's Secret)
↑"The Princess Stays in the Picture". Sofia the First.
↑"Disney Sofia the First Season 3". Archived from the original on 5 October 2016. EP 8 Princess Adventure Club Aired on 09/09/15 When new girl in school PRINCESS ZOOEY is worried about making friends at Royal...