The Heavenly Delusion manga series features an extensive cast of characters created by Masakazu Ishiguro.

Voiced by: Gen Satō^[1] (Japanese); Jonathan Leon^[2] (English)

Maru (マル) is a 15-year-old boy who is traveling together with Kiruko. He is skilled in martial arts.

Kiruko (キルコ) is a young woman around 18 to 20 years old who travels with Maru. She is searching for both the doctor who performed an operation on her and a friend she knew.

Voiced by: Sayaka Senbongi^[1] (Japanese); Anjali Kunapaneni^[2] (English)

Kiriko Takehaya (竹早 桐子, Takehaya Kiriko) is Haruki's older sister who raced electric cars in Tokyo.

Voiced by: Mariya Ise^[3] (Japanese); McKenzie Atwood^[4] (English)

Haruki Takehaya (竹早 春希, Takehaya Haruki) is Kiriko's younger brother who looks up to Robin Inazaki.

Voiced by: Hibiku Yamamura^[1] (Japanese); Brittany Lauda^[2] (English)

Tokio (トキオ) is a young girl who lives in a facility isolated from the outside world. She has a similar appearance as Maru.

Voiced by: Toshiyuki Toyonaga^[1] (Japanese); AJ Beckles^[2] (English)

Kona (コナ) is the oldest of the facility children who is a talented artist, although his drawings seem peculiar.

Voiced by: Misato Fukuen^[1] (Japanese); Tia Ballard^[2] (English)

Mimihime (ミミヒメ) is a socially inept girl from the facility who seems to be clairvoyant.

Voiced by: Shunsuke Takeuchi^[1] (Japanese); Hao Feng^[2] (English)

Shiro (シロ) is an observant, tech-savvy boy who seems to be attracted to Mimihime.

Voiced by: Tomoyo Kurosawa^[1] (Japanese); Madeleine Morris^[2] (English)

Kuku (クク) is the youngest of the children, she is very agile and curious.

Voiced by: Yuuki Shin^[1] (Japanese); John Choi^[2] (English)

Taka (タカ) is a very athletic and energetic child.

Voiced by: Misato Matsuoka^[1] (Japanese); Courtney Lin^[4] (English)

Anzu (アンズ) is a young girl in the facility who loves to dance and swim.

Voiced by: Kei Shindō^[3] (Japanese); Xanthe Huynh^[4] (English)

Tarao (タラオ) is a young boy close to Tokio who is suffering from a debilitating disease.

Voiced by: Satomi Kobashi [ja]^[3] (Japanese); Felecia Angelle^[4] (English)

Iwa (イワ) is a young girl who is attracted to her classmate Nanaki. They are often seen kissing each other.

Voiced by: Ayano Shibuya [ja]^[3] (Japanese); Risa Mei^[4] (English)

Nanaki (ナナキ) is a young girl who is attracted to her classmate Iwa. They are often seen kissing each other.

Voiced by: Mamiko Noto^[3] (Japanese); Ell^[4] (English)

Asura (アスラ) is one of the children with an unsettling appearance, with healing and telekinetic capabilities, who was close to Kona when they were younger.

Voiced by: Hina Kino^[3] (Japanese); Madeline Dorroh^[4] (English)

Ohma (オーマ, Ōma) is a young timid girl who avoids the other children due to her power causing intense hallucinations upon eye contact.

Voiced by: Riho Sugiyama^[3] (Japanese); Jennifer Losi^[4] (English)

Nata (ナタ) is one of the new girls at the academy, who gets tangled up in the adults' scheme.

Voiced by: Mai Nishikawa [ja]^[3] (Japanese); Kayli Mills^[4] (English)

Michika Takezuka (竹塚ミチカ, Takezuka Michika) is one of the new girls at the academy, who has enhanced physical capabilities and an aloof nature.

Voiced by: Ayu Matsura [ja]^[3] (Japanese); Caitlyn Elizabeth^[4] (English)

Mako (マコ) is a new kid at the academy who befriends Nata. He has the ability to compress and disintegrate matter.

Voiced by: Haruna Mikawa [ja]^[3] (Japanese); Abbey Veffer^[4] (English)

Sakuya (サクヤ) is one of the new kids at the academy and friend of Nata. She has the ability to scan the area around her, even seeing through objects.

Voiced by: Masako Isobe [ja]^[5] (Japanese); Anzu Lawson^[4] (English)

Shino Kaminaka (上仲 詩乃, Kaminaka Shino) is the elderly paraplegic director of the facility.

Voiced by: Aya Hisakawa^[1] (Japanese); Lisa Ortiz^[4] (English)

Mina (ミーナ) is the artificial intelligence running the facility.

Voiced by: Atsumi Tanezaki^[5] (Japanese); Jennifer Sun Bell^[4] (English)

Yuko Aoshima (青島 裕子, Aoshima Yūko) is a nurse and interpreter in the facility who gets promoted to assistant director.

Voiced by: Tadashi Mutō [ja]^[5] (Japanese); Nick Martineau^[4] (English)

Teruhiko Sawatari (猿渡) is a doctor working in the facility.

Voiced by: Kōsuke Echigoya [ja]^[3]

Eikichi Kaminaka (上仲永吉) is the husband of Takahara Academy's director, Shino Kaminaka. He is also a high-ranking executive within the academy.

Voiced by: Kazuya Nakai^[5] (Japanese); Eric Vale^[2] (English)

Robin Inazaki (稲崎 露敏, Inazaki Robin) is Kiruko's childhood friend and a sort of mentor who went missing years ago.

Voiced by: Kanon Amane [ja]^[3] (Japanese); Cristina Valenzuela^[4] (English)

Ran Kawashima (川島 蘭, Kawashima Ran) is an odd and cheerful child who lived with Haruki at Funayama Orphanage.

Voiced by: Kōhei Amasaki^[3] (Japanese); Harrison Xu^[4] (English)

Ken Tachibana (立花 健, Tachibana Ken) is one of Haruki's childhood friends, who lived in Funayama Orphanage.

Voiced by: Misato Matsuoka^[3] (Japanese); Deneen Melody^[4] (English)

Totori (トトリ) is a young girl who works with bandits in trapping and robbing people.

Voiced by: Seiko Tamura [ja]^[3] (Japanese); Marcy Edwards^[2] (English)

Mizuhashi (水橋) is the leader of the Liviumen cult, who are disgruntled by technology replacing their body, supposedly in the name of human experiments.

Voiced by: Yutaka Aoyama^[3] (Japanese); Brook Chalmers^[2] (English)

Kuwata (桑田) is one of Mizuhashi's right-hand man, who has an agenda of his own.

Yoneda (米田) is one of Mizuhashi's right-hand man, who will help him escape when the attacks against the Immortal Order begin.

Voiced by: Shunsuke Sakuya^[3] (Japanese); Jonah Scott^[4] (English)

Juichi (ジューイチ, Jūichi) A scavenger and con artist with a dark past who encounters Maru and Kiruko during their travels.

Voiced by: Chiharu Sawashiro^[3]

Sakae (坂江) is a member of the Ministry of Reconstruction responsible for finding Maru and Kiruko, suspected of having helped Robin in his escape.

Heima (平馬) is a member of the Ministry of Reconstruction responsible for finding Maru and Kiruko, suspected of having helped Robin in his escape.

Marin Inazaki (稲崎 真凛, Inazaki Marin) is Robin's younger sister who died prior to the end of the world.

Toru Funayama (船山徹, Funayama Toru) is a tall and imposing, but actually kind man who founded Funayama Orphanage, where Haruki, Kiriko and Robin grew up.