The main characters of Critical Role are the characters controlled by the seven players of the game, plus Trinket, Vex'ahlia's companion bear.
Grog, Goliath Barbarian "Right, listen up. If you have ale, then you have a friend in Grog Strongjaw. A goliath of towering height and size, this barbarian has an appetite for the two great loves in his life: Combat, women, and ale. Wait..."
Keyleth, Half-Elf Druid "A first impression of Keyleth would leave you with little information on the Half-Elven druid. You might even think that her social awkwardness due to her sheltered upbringing is kind of sweet. Of course, it would be unwise to underestimate her based on first impressions."
Percy, Human Gunslinger "Percy was the third child of seven children, born to a noble family who lived far to the north in the ancient castle of Whitestone. With so many siblings to share the burdens of lordship, Percy turned his attention to the sciences, engineering and naturalism."
Pike, Gnome Cleric "As a child, Pike seemed to have an affinity to heal. Whether it was animals, people, or even flowers. She felt she had a purpose in making things whole that had once been broken. She studied and learned the ways to heal through divine magic."
Vax'ildan, Half-Elf Rogue "An outsider since birth, Vax quickly learned to solve life's challenges in his own particular way, often by sidestepping them entirely. And when his knack for circumventing adversity isn't enough, the way of blades the elves schooled him in more than makes up the difference."
Vex'ahlia, Half-Elf Ranger "Vax took to the cities, stealing small trinkets and learning the ways of the thief, while Vex kept to the woods. She preferred the isolation. Always the keen observer, she learned to hunt and to track, to spy and to shoot. And through a series of fateful events, earned herself a companion in the form of a bear, her own stolen Trinket, to fight alongside her and protect her fiercely."
Scanlan, Gnome Bard "Oh, you haven't heard of Scanlan Shorthalt? Well, gird your loins, ladies, because he has his eye on you. A talented musician, master of disguise, and dashingly handsome in his own mind, Scanlan sings songs almost as much as he sings his own praises."
Tiberius, Dragonborn Sorcerer "Greetings and salutations. I am Tiberius Stormwind. I hail from a town called Tyriex, located in the heart of Draconia, born from a politically respected family."