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.

Allanon: a shade who was once a Druid, he summons Walker, Wren, and Par to the Hadeshorn to give them charge that would save the Four Lands if completed.
Amberle Elessedil: she took the Ellcrys' seed to the Bloodfire and became the new Ellcrys.
Ander Elessedil: a prince of the Elves during the time of Wil Ohmsford; he later became King.
Auntie Jilt: a severe Dwarf who runs an orphanage with Granny Elise.
Axhind: the Troll Maturen of the Kelktic Rock, he and his Rock Trolls aid the Free-born in their struggle.
Balinor Buckhannah: the prince of Callahorn during the time of Shea Ohmsford.
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.
Chalt: a stuffed bear and one of the Mole's "children", he was supposedly naughty.
Chandos: second-in-command after Padishar Creel, he is a fellow Free-born.
Ciba Blue: a young outlaw, he went with Par and Padishar to Tyrsis to seek out the Sword of Shannara. When he became trapped in the Pit, the Shadowen got him.
Cogline: a once-Druid who once was crazy but is not any longer; he is Allanon's messenger.
Coll Ohmsford: Par's brother; while going into the Pit he was taken captive by one of the Shadowen and became a prisoner of Southwatch. Par believes that he had killed Coll.
Damson Rhee: the red-haired daughter of Padishar Creel and a street magician, she is in love with Par and took care of him when he was mad over the loss of Coll.
Drutt: an outlaw that went with Par to Tyrsis; when he went into the Pit, Ciba Blue's Shadowen remains ripped off his head and arms and fed on him.
Eventine Elessedil: one of the great Elven Kings from the time of Wil Ohmsford.
Everlind: the Mole's newest addition to the family, she is a stuffed velvet rabbit.
Flick Ohmsford: Shea's brother, he helped him to defeat Brona.
Galaphile: the first Druid.
Garth: Wren's companion and mentor, he goes with Wren to the Hadeshorn and accompanied her while she was being stalked.
Granny Elise: a soft, gentle Dwarf who runs an orphanage with Auntie Jilt.
Grimpond: a shade that is trapped in a pond near Hearthstone; Walker asks it for help and loses his arm by following its visions. He seeks to get revenge for what had been done to him in Brin Ohmsford's time.
Hirehone: master of Kiltan Forge, the Shadowen that inhabited Teel went into him, stole his secrets, then killed him. His body was found on the outskirts of Parma Key.
Ildatch: a book of evil destroyed by Brin Ohmsford.
Jair Ohmsford: he started the tradition of telling the stories using the wishsong.
Jaralan Ohmsford: Par and Coll's father.
Kimber Boh: she helped Brin in her quest to destroy the Ildatch and is an ancestor of Walker's.
Kyle Leah: Morgan's father; he breeds beef cattle.
Lida: one of the Mole's "children", she supposedly had a fever.
Matty Roh: Padishar tells Morgan to find her by showing her the hawk emblem ring at the Whistledown Tavern.
Menion Leah: he helped Shea in his quest to find the Sword of Shannara.
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 shows Par a way to enter the Pit from the palace side.
Morgan Leah: the clever wielder of the Sword of Leah, he is Par's self-appointed protector. He broke the Sword while trying to escape the Pit but found out that there was still magic in it when he destroyed Teel.
Padishar Creel: leader of the Free-born and the Movement; he helps Par to find the Sword of Shannara.
Panamon Creel: ancestor of Padishar.
Par Ohmsford: a Valeman who has the magic of the wishsong of illusion as well as some innate Elfstone magic, Allanon gives him the task of retrieving the Sword of Shannara. He does so but the Sword's magic does not seem to work for him.
Rimmer Dall: the First Seeker and a Shadowen, he takes Coll prisoner and seeks to enter Par's body.
Rone Leah: he helped Brin in her quest to destroy the Ildatch.
Rumor: Walker Boh's giant moor cat.
Shea Ohmsford: the wielder of the Sword of Shannara who finally defeated Brona.
Stasas: an outlaw that went with Par to Tyrsis; when he went into the Pit, the Shadowen got him and made him their own.
Stee Jans: Commander of the Legion Free Corps during the time of Wil Ohmsford.
Steff: a Dwarf, Morgan's friend, and Granny Elise and Auntie Jilt's "adopted" son, he was in love with Teel, who later killed him. He found Walker's home for Par.
Teel: a Shadowen spy that was hiding in the body of a Dwarf, she betrayed Par and his company before she was killed by the remnants of the magic from the Sword of Leah.
Valg: a serpent found in the Hall of Kings that attacked Shea and his group while they attempted to pass through.
Walker Boh: a secluded scion of Shannara, he is Brin Ohmsford's descendant and can wield magic. Allanon gives him the task of restoring lost Paranor and the Druids. He is infected with the poison of the Asphinx and is trapped in the Hall of Kings.
Westra: one of the Mole's "children", she supposedly cut her paw.
Whisper: Kimber's moor cat.
Wil Ohmsford: he protected Amberle during the quest for the Bloodfire.
Wren Ohmsford: a Rover who has pretend Elfstones given to her by her parents, Allanon gives her the task of finding the Elves and returning them to the world of men. Something began to stalk her after she began to ask questions about the Elves.