Kion is a lion and the main character in the Lion Guard series. He is Simba and Nala's second-born cub, Mufasa's grandson, and Kiara's younger brother. Kion is the Prince of the Pride Lands and the leader of the Lion Guard. After getting bitten by Ushari the cobra and defeating Scar, Kion and the Lion Guard go on a journey to find the Tree of Life to heal him. During this journey, Kion meets the Night Pride, who helps him during his recovery, and he falls in love with their leader, Rani. Eventually, Kion and Rani become the rulers of the Tree of Life in the series finale.

Bunga, voiced by Joshua Rush, is a honey badger and the most courageous member of the Lion Guard. He is the adoptive nephew of Timon and Pumbaa and the best friend of Kion. Bunga frequently uses the catchphrase "Un-Bunga-lievable!" and his battle cry is "Zuka Zama!" In season three, Bunga encounters Binga, another honey badger, and they develop a romantic relationship.

Fuli, voiced by Diamond White, is a cheetah and the swiftest member of the Lion Guard. She is Kion's friend, second-in-command, and the sole female member (until Anga joins the group). In the season 2 special "The Rise of Scar," Fuli is noted as the first female animal ever to serve in the Guard. Her battle cry is "Huwezi!" In season three, Fuli falls in love with a cheetah named Azaad.

Atticus Shaffer provides the voice for Ono, an egret who is a friend of Kion. Ono previously held the position of the Lion Guard's sharpest eyesight until he sustained injuries while saving Bunga in "Battle for the Pride Lands." Despite this setback, Ono graciously accepts his replacement by Anga and instead takes on the role of the most knowledgeable member due to his extensive understanding of various creatures, the environment, and more. He frequently says "Hapana!" and in Season 3, he tends to utter "Nowaza" when trying to recollect information such as locations on the Tree of Life map. As the youngest member of the Lion Guard, Ono remains an integral part of the team.

Dusan Brown provides the voice for Beshte, a hippopotamus who is a close friend of Kion and the strongest member of the Lion Guard. Beshte is known for his amiable nature towards everyone, assuming the role of an older brother to his herd's younger members, a companion to animals from various species, and a defender of the Pride Lands as a whole. He frequently expresses his enthusiasm with the word "Poa!" and his battle cry is "Twende Kiboko!"

Bryana Salaz provides the voice for Anga, an eagle who replaces Ono as the Lion Guard's keenest of sight. Her battle cry is "Anga Lenga!"

Scar is Simba's uncle and Mufasa's younger brother who was once the leader of the Lion Guard. Scar plotted to dethrone Mufasa, teamed up with hyenas to rule the Pride Lands, and caused Mufasa's death. Scar was defeated by Simba and mauled to death by hyenas in the original film. In The Rise of Scar, Kion unintentionally summoned Scar back as a fiery spirit, and he planned to take over the Pride Lands. However, Scar was defeated and sent back to the afterlife by Kion in the season 3 premiere. Scar was voiced by David Oyelowo, who replaced Jim Cummings.

Ushari is a cobra who gets agitated when the Lion Guard is near him. In The Rise of Scar, he teams up with Janja to bring back Scar and take over the Pride Lands. Scar eventually takes revenge on Simba and Kion, resulting in Kion getting scarred by Ushari's bite. Ushari later falls to his death in the Outlands' volcano after being knocked over by Bunga.

The matriarch of a jackal family, Reirei (voiced by Ana Gasteyer), is known for her cunning, scheming, and manipulative nature.

Reirei, the matriarch of a jackal family, is accompanied by her mate Goigoi, who is known for his laziness and lack of intelligence.

Dogo, one of Reirei and Goigoi's offspring, is a young jackal pup with blue eyes, unlike his siblings who have brown eyes.

The siblings of Dogo, who are voiced by Jacob Guenther and Dee Bradley Baker, are a pack of juvenile or grown-up jackals and are the offspring of Reirei and Goigoi.

Makucha (voiced by Steve Blum) is a crafty and treacherous leopard from the Backlands who relishes hunting rare animals. Although he has made prior appearances in the series, Makucha becomes the primary antagonist in season 3 with a new aim to surreptitiously trail the Lion Guard to the Tree of Life to prey on the extraordinary creatures residing there. Along the way, he acquires accomplices. However, when he finally arrives at the Tree of Life, Makucha and his cohorts are defeated by the Roar of the Elders.

Fahari, a cream-colored leopard, is part of Makucha's leap. He is voiced by Nolan North.

Jiona, a cream-colored leopard, is a member of Makucha's group of leopards.

Kiburi, voiced by Common, is a self-important crocodile and the head of his group called the float.

Tamka (voiced by Nolan North) is a member of the float who is known for his overconfidence and lack of intelligence.

Nduli, who is voiced by Jorge Diaz, is a positive and hopeful crocodile and a member of the float.

Shupavu leads a group of red skinks and is voiced by Meghan Strange.

Njano (voiced by Ford Riley) is a yellow skink with a blue tongue and holds the position of the second-in-command within the group led by Shupavu.

Nyeusi (voiced by Dee Bradley Baker) is a member of the group and is known for being stealthy and hard to detect due to his black color.

Waza is a member of the group who is a blue skink with a keen sense of observation.

Nyata is a purple skink who is a member of the group and known for her speed.

Kenge, voiced by Kristofer Hivju, is a huge and aggressive monitor lizard who is associated with Ushari. He becomes enraged when referred to as "little" and has a poisonous bite that paralyzes anyone except for Bunga.

Chuluun (voiced by Kimiko Glenn) is a sly and crafty snow leopard, whom the Lion Guard first encounters in the mountains during the episode "Ghost of the Mountain". She is eventually defeated when the Lion Guard, alongside a group of red pandas, fight back against her. Following her defeat, Chuluun allies with Makucha and tracks the Lion Guard to the Tree of Life.

Ora is the leader of a bank of ferocious Komodo dragons and is voiced by Andrew Kishino.

One of Ora's two lackeys is an unnamed Komodo Dragon (voiced by Ford Riley).

Mama Binturong, voiced by Rachel House, is a sly and conceited crime boss who resides in the stone forest and relishes consuming tuliza. However, when Bunga spoils her stash with his stench, Mama Binturong becomes enraged and relentlessly pursues him. Later on, in the episode "The River of Patience," Mama Binturong becomes aware of Chuluun's animosity towards Bunga and, following the defeat of her group by the Lion Guard and Night Pride, decides to team up with them.

Smun is the chief of his porcupine group and works under Mama Binturong as her servant. He is voiced by James Sie.

Rob Lowe provides the voice for Simba, a lion who is the son of Mufasa, the mate of Nala, the nephew of Scar, and the father of Kion and Kiara. He is the King of the Pride Lands and leads his Pride with great responsibility. In the season 1 episode "Bunga and The King," it is revealed that Simba and Bunga share a past of having lived with Timon and Pumbaa. Lowe takes over the role of Simba from Matthew Broderick, who voiced him in the original film and its sequel.

Gabrielle Union provides the voice for Nala, a lioness who is the mate of Simba and the mother of Kion and Kiara. She holds the position of Queen of the Pride Lands. Union takes over the role of Nala from Moira Kelly, who voiced her in the original film and its sequel.

Eden Riegel provides the voice for Kiara, a lioness who is the daughter of Simba and Nala, the granddaughter of Mufasa, the older sister of Kion, the Princess of the Pride Lands, and the future queen of the Pride Lands. In the series finale "Return to the Pride Lands," Riegel voices the adult version of Kiara, taking over the role from Neve Campbell who voiced young adult Kiara in The Lion King II: Simba's Pride. Additionally, Riegel replaces Michelle Horn who voiced young Kiara in Simba's Pride.

Kevin Schon provides the voice for Timon, a wisecracking meerkat who is a friend of Simba and Pumbaa. Timon is also Bunga's adoptive uncle. Schon replaces Nathan Lane, who voiced Timon in the original film and its sequel. Schon previously voiced Timon in Timon & Pumbaa.

Ernie Sabella provides the voice for Pumbaa, a warm-hearted warthog who is a friend of Simba and Timon. Pumbaa is also Bunga's adoptive uncle. Sabella returns to voice Pumbaa, reprising his role from The Lion King and its sequels and spin-offs.

Khary Payton provides the voice for Rafiki, a wise and elderly mandrill who serves as the Royal Mjuzi for the Royal Family of Pride Rock, providing knowledge and advice. Payton takes over the role of Rafiki from Robert Guillaume, who voiced the character in the original film and its sequel.

Zazu is a red-billed hornbill who serves as Simba's majordomo and provides news through the Morning Report in the Pride Lands. Jeff Bennett voices Zazu in the series, replacing Edward Hibbert who previously replaced Rowan Atkinson in Simba's Pride. Bennett had previously provided Zazu's singing voice in the 2003 special edition of the original film.

Mufasa is Simba's father and Kion and Kiara's paternal grandfather who was the original king of the Pride Lands. James Earl Jones voices Mufasa in "Return of the Roar" and later episodes are voiced by Gary Anthony Williams. Mufasa was killed in the original film by a wildebeest stampede orchestrated by his younger brother Scar. He appears as a spirit that gives Kion advice on how to overcome difficult situations.

Nika Futterman voices Zira, a lioness who is the mother of Kovu, Vitani, and Nuka and the leader of the Outsiders. Simba banished Zira and her clan from the Pride Lands after Scar's death. During Kion's journey to the Tree of Life, Zira attacks the Pride Lands but is defeated by Kiara. Suzanne Pleshette, who voiced Zira in Simba's Pride, is replaced by Futterman.

Jason Marsden voices Kovu, a lion and Zira's youngest son who is the younger brother of Nuka and Vitani. Before the start of the series, he became friends with and later fell in love with Kiara. In "Return to the Pride Lands," Kovu becomes Kion's older brother-in-law. Marsden returns to voice Kovu, replacing Ryan O'Donohue, who voiced Kovu as a cub.

An adolescent lion named Nuka, who is the oldest son of Zira and the older brother of Kovu and Vitani, was voiced by Andy Dick. During the third season of the series, he died while trying to catch Simba. Dick returned to reprise his role from Simba's Pride.

Lacey Chabert voices Vitani, a lioness who is Zira's daughter and the sister of Nuka and Kovu. Vitani later joins Simba's pride and forms her own Lion Guard in the absence of Kion's Guard. Chabert replaces Meredith Scott Lynn, who previously voiced the young adult version of the character.

Tiifu is a lion and a friend of Kiara, as well as a member of Simba's Pride. She is known for being more sensible than her constant companion, Zuri.

Zuri is a lioness and a friend of Kiara, who is a member of Simba's Pride. She is portrayed as being vain and disliking getting dirty. Zuri is voiced by Madison Pettis.

Landry Bender voices Makini, a young mandrill who becomes Rafiki's apprentice and one of the few characters who know that Kion can speak to the spirit of Mufasa. In season 3, she accompanies the Lion Guard to the Tree of Life. After Queen Janna's death, Makini is appointed as Rani's Royal Mjuzi.

Fiona Riley voices Shabaha, a member of Vitani's Lion Guard known for her fearlessness and slightly unhinged demeanor. She fights similarly to Bunga but instead of becoming dimwitted, her bravery makes her slightly crazy, often laughing maniacally during challenges. Shabaha's catchphrase is "Bila hofu!" which means "without fear" in Swahili.

Kasi is one of Vitani's Lion Guard members who is known for her speed and agility, much like Fuli. Voiced by Savannah Smith, Kasi is a lion with constant stamina and a thin build. Her catchphrase is "Haraka, haraka!", which means "Hurry, hurry!" in Swahili.

Imara (voiced by Rachel Crow) is a member of Vitani's Lion Guard and known for her remarkable strength, which is nearly on par with that of Beshte. She has a stocky build and a catchphrase of "Misuli!" to encourage herself and her team.

Tazama (voiced by Sophie Reynolds) is a member of Vitani's Lion Guard who has the keenest eyesight, making her an invaluable asset to the team. Despite not having the ability to fly like Anga or Ono, Tazama compensates by being able to see in the dark and possessing some of Ono's strategic thinking. She is also a supportive team player and her catchphrase is "Hiyo kali!".

Jasiri is the leader of a hyena clan living in the Outlands who becomes an ally of Kion. In season 2, she learns of Scar's spiritual return to the Outlands and forms the Hyena Resistance with her entire clan to overthrow Scar as the leader of the Outlands. In season 3, Jasiri accepts Janja and his clan as members of her cackle. After Scar's defeat and the destruction of his army, Jasiri becomes the new leader of the Outlands.

Madoa (voiced by Maisie Klompus) is a member of Jasiri's hyena clan and her sister.

Tunu is a hyena cub and a member of Jasiri's clan, along with his sister Wema. The character is voiced by Crimson Hart.

Jasiri's clan includes Wema, a female hyena cub voiced by Fiona Hart, and her brother Tunu, also a hyena cub voiced by Crimson Hart.

Blair Underwood voices Makuu, a crocodile who was previously a villain and is now the leader of the crocodile float after reforming from his troublesome behavior.

Janja, voiced by Andrew Kishino, starts off as a sly, conceited, and cruel hyena who leads his all-male clan. However, he later becomes a friendly and devoted hyena.

Cheezi, one of Janja's top henchmen, is a hyperactive hyena voiced by Vargus Mason.

Chungu, one of Janja's top henchmen, is a hyena with a larger build and lesser intelligence compared to the other hyenas. He is voiced by Kevin Schon.

Nne is a clever spotted hyena who may be stout but is also quite sly.

Tano (voiced by Dee Bradley Baker) is a hyena with a hunched back, but is also known for his cunning and intelligence.

Mzingo, voiced by Greg Ellis, is the strategic leader of the parliament of vultures. He is known for his cunning ways and at times, acts as a spy and scout for Janja. In season 3, Mzingo reforms and becomes Jasiri's friend and ally.

Mwoga is a bumbling and inept vulture who serves as the spy for the parliament.

Azaad (voiced by Behzad Dabu) is a cheetah who takes pride in his abilities and whom the Lion Guard come across in his canyon while journeying to the Tree of Life. Later, he guides them through the quickest path to the Pride Lands, where he meets Simba and Nala. Azaad also becomes Fuli's romantic interest.

Askari, voiced by Michael Luwoye, was the leader of the first Lion Guard and a lion who was born as the second child of the unnamed king and queen. He was also a distant relative of Mufasa, Simba, and Kion. Later, his spirit guides Kion and teaches him about how the roar works during Kion's journey to the Tree of Life.

Peyton Elizabeth Lee voices Rani, who leads the Night Pride and becomes Kion's love interest after her grandmother's passing. She assumes the position of Queen of the Tree of Life and eventually marries Kion. "With strength & respect, Night Pride protect!" is Rani and the Night Pride's catchphrase. Lana McKissack provides Rani's singing voice.

Baliyo (voiced by Hudson Yang) is the younger brother of Rani who belongs to the Night Pride. He uses the battle cry "Ladai".

Surak, portrayed by Lou Diamond Phillips, is the uncle of Rani and Baliyo, as well as Janna's son. When going into battle, his rallying cry is "Jogina".

Nirmala, voiced by Miki Yamashita, is the healer of the Night Pride, responsible for guiding Kion during his recovery. She is known for her catchphrase, "Aramakaro."

Janna (voiced by Shohreh Aghdashloo) was once the queen of the Night Pride, the mother of Surak, and the grandmother of Rani and Baliyo. She passed away due to old age in the episode "Long Live the Queen". In "Return to the Pride Lands," her spirit appears alongside the spirits of Mufasa and Askari as Kion marries Rani and the Lion Guard pledges to help protect the Tree of Life with the Night Pride.