- Jane Porter: A human woman from England, and eventually Tarzan's wife.
- Kala: A mother gorilla who raised Tarzan after his parents' death.
- Terk: A female gorilla, one of Tarzan's closest friends since childhood.
- Tantor: A clumsy but kind-hearted African forest elephant, another childhood friend of Tarzan.
- Cheetah: A chimpanzee who often accompanies Tarzan on his adventures.
- Sabor: A leopard that was Tarzan's arch-enemy but later becomes his friend after Tarzan saves Sabor from a trap.