This does contain some spoilers, like who dies, so be prepared! And EVERYONE that had a name, including horses and whatnot, are listed here.

The list for order of appearance has only the characters that had an physical part in the story, not the people that were mentioned only in passing (such as Mirianna Ohmsford: Par and Coll's mother). The one that has the characters organized in alphabetical order has all of them.

Addershag: an old and blind seer that is kept captive in the Iron Feather, she tells Wren to build a fire on the shores of the Blue Divide so that one would come for her and tell her of the missing Elves.
Allanon: a shade who was once a Druid; he appears to Walker and helped keep him alive while the latter was suffering from the Asphinx's poison.
Assomal: a feared major in the Federation army.
Auntie Jilt: a severe Dwarf who was betrayed by Teel and put in the Federation workhouses. Morgan helped her escape later.
Axhind: the Troll Maturen of the Kelktic Rock.
Bremen: Allanon's father and a Druid who was around in the time of Jerle Shannara.
Brin Ohmsford: the first Ohmsford to possess the wishsong, she could change reality. Allanon gave her a blood trust before his death.
Brona: a rogue Druid who attempted to conquer the Four Lands multiple times, he was finally defeated by Shea Ohmsford.
Carisman: a tunesmith and king of the Urdas, he escapes from the Spikes to go with Quickening and her band into Eldwist. The Urdas catch up with him and take his head.
Cogline: a once-Druid; Rimmer Dall sought to kill him but he used the Druid History to go into disappeared Paranor and became a wraith.
Coll Ohmsford: Par's brother; Rimmer Dall holds him captive in Southwatch so that Par will come and attempt to save him.
Damson Rhee: Par's lover, she helps him recover from his loss of Coll and escapes with him through the tunnels of Tyrsis when the Federation was looking for him.
Garth: Wren's companion and mentor, he protects Wren in Grimpen Ward and goes with her everywhere.
Granny Elise: a soft, gentle Dwarf who was betrayed by Teel and put in the Federation workhouses. Morgan helped her escape later.
Grimpond: a shade that is trapped in a pond near Hearthstone; Walker asked it for help and lost his arm by following its visions.
Horner Dees: an old Tracker, he shows Quickening the way into Eldwist and was almost turned to stone by the Maw Grint.
Jair Ohmsford: he started the tradition of telling the stories using the wishsong.
Jaralan Ohmsford: Par and Coll's father.
Kenner Ohmsford: Walker's father; he died several years ago.
King of the Silver River: living since the time of Faerie, he creates Quickening and sends her to Eldwist to retrieve the Black Elfstone and to heal the land.
Maw Grint: Uhl Belk's son, it turns everything it touches into stone using a greenish poison that comes from its body. It used to be human in shape but too much magic and power mutated it into a worm-like thing.
Mirianna Ohmsford: Par and Coll's mother.
Mole: a furry creature that lives in the tunnels of Tyrsis and keeps the trash of the upper world in his lair, he helps Par recover from his loss of Coll and goes into hiding.
Morgan Leah: the wielder of the Sword of Leah, he is Quickening's lover and helped retrieve the Black Elfstone. After Quickening died and healed the land, his sword and its magic were restored.
Padishar Creel: leader of the Free-born and the Movement.
Par Ohmsford: a Valeman who has the magic of the wishsong of illusion as well as some innate Elfstone magic, he has possession of the Sword of Shannara.
Pe Ell: an assassin and the wielder of the Stiehl; he was unknowingly brought to Eldwist to murder Quickening so that she could heal the land. Her blood and the Koden later killed him.
Quickening: the elemental daughter of the King of the Silver River, she journeys to Eldwist with Walker Boh, Morgan Leah, and Pe Ell. After retrieving the Black Elfstone, she disintegrated into dust to turn the stone land back to normal.
Rake: the name of the Creeper that lives in Eldwist, it rids the streets of any living being at night. Pe Ell and Horner Dees use the Maw Grint to turn it into stone. It crashed into a wall afterwards and shattered into millions of fragments.
Rimmer Dall: the First Seeker and a Shadowen, he holds Coll captive and tried to kill Cogline but failed. He also employed Pe Ell to assassinate Quickening.
Risse Boh: Walker's mother; she contracted a fatal disease and died several years ago.
Rumor: Walker Boh's giant moor cat; he disappears with Cogline into lost Paranor.
Shea Ohmsford: the wielder of the Sword of Shannara who finally defeated Brona.
Soldt: he is the commander in charge of supervising the confinement of the Dwarves.
Steff: Morgan's friend; he was killed at the Jut by Teel.
Teel: a Shadowen spy, she killed Steff before Morgan killed her with the broken Sword of Leah.
Uhl Belk: also known as the Stone King, he seeks to turn all the world to stone using the Maw Grint and possesses the Black Elfstone. He is master of Eldwist and almost a thing of stone himself. Quickening retrieved the Black Elfstone and turned Eldwist back to normal, save for the dome that he lived in. Uhl Belk lives on still.
Valg: a serpent found in the Hall of Kings that attacked Shea and his group while they attempted to pass through.
Walker Boh: known as the Dark Uncle, he lost an arm through the Asphinx's poison and goes with Quickening to Eldwist. He helped in retrieving the Black Elfstone and later used it on lost Paranor.
Wil Ohmsford: he protected Amberle during the quest for the Bloodfire.
Word: the creator of life in the Four Lands.
Wren Ohmsford: a Rover who has pretend Elfstones given to her by her parents, she goes into Grimpen Ward to talk to the Addershag to find out information about the Elves.