- Sterling North - The protagonist of the story. He is a young boy who lives in a small town in Wisconsin with his family.
- Rascal - A baby raccoon that Sterling finds and raises as a pet.
- Elizabeth North - Sterling's mother. She is a kind and understanding woman who supports her son's love of animals.
- David North - Sterling's father. He is a strict and practical man who doesn't understand his son's interest in animals.
- Uncle Billy - Sterling's eccentric uncle who lives nearby. He is a talented artist and naturalist who encourages Sterling's love of animals.
Other Characters:
- Schoolteacher - Sterling's teacher at school. She is a kind and patient woman who encourages her students to learn and explore.
- Mr. McGinnis - The owner of the local hardware store. He is a kind and helpful man who gives Sterling advice on how to raise Rascal.
- Mrs. McGinnis - Mr. McGinnis's wife. She is a kind and gentle woman who helps Sterling care for Rascal.