- Grumio: Grumio is Petruchio's servant, and he is a central character in the play. He is a witty and resourceful man, and he often provides comic relief. Grumio is also a loyal servant, and he helps Petruchio to tame Katherine.
- Curtis: Curtis is another of Petruchio's servants, and he is also a loyal and helpful character. He is often seen alongside Grumio, and they often work together to assist Petruchio.
- Nathaniel: Nathaniel is a servant of Tranio, Lucentio's servant. He is a minor character, but he plays an important role in the play's final scenes. He is the one who accidentally reveals the truth about Lucentio's identity to Baptista Minola.
- Bianca's servants: Bianca, Kate's younger sister, also has servants who help her with her daily tasks. They are minor characters, but they help to create a sense of realism in the play.
The servants in "The Taming of the Shrew" are essential to the play's plot and themes. They provide comic relief, help to move the story forward, and add depth to the main characters.