Titus Andronicus – An elderly hero of Rome returning from a 10-year war with the Goths. Titus declines the position of emperor and gives it to Saturnius instead, which turns out to be a titanic mistake. He is the main character and tragic hero for which the play is named.
Lucius – A son of Titus Andronicus who is exiled from Rome and gathers an army of Goths to overthrow Saturninus.
Saturninus – Eldest son and heir to the late emperor of Rome. Saturnius marries Tamora and issues the command for the execution of Quintus and Martius Andronicus.
Tamora – Queen of the Goths, Tamora marries Saturninus and becomes the empress of Rome. She vows revenge on the Andronici for the sacrifice of her eldest son, Alarbus.
Aaron the Moor – A Goth and secret lover to Tamora. Aaron is instrumental in the execution of Tamora’s plans for revenge.
Demetrius and Chiron – Demetrius and Chiron are both sons of Tamora. They have shared roles in the rape and dismemberment of Lavinia, and they are both killed by Titus while disguised as Rape and Murder (how ironic).
Bassianus -- He tries unsuccessfully to take the throne at the beginning of the play. After he fails, he kidnaps and marries Lavinia, then gets killed by Demetrius and Chiron. Sucks to suck.