Inuyasha is a half-demon born between a human mother and a powerful Great Dog-Demon father. His most striking features are his long silver hair, golden eyes, and the dog-demon ears atop his head. He appears rough and fierce, with a hot-headed and prideful personality that leads him to shout or get angry when things don't go his way. However, he is actually warm-hearted, deeply caring for those he deems precious and stepping up before anyone else when they are in danger. Due to his birth as a half-demon, he harbors feelings of loneliness and inferiority from not belonging to either the human or demon worlds, manifesting as a strong desire for power and recognition. His primary weapon is the Tessaiga, a demon sword inherited from his father. While he often bickers and argues with Kagome, he is actually very fond of her and is willing to risk his life to protect her. When Kagome says "Sit!", he is slammed into the ground.

Kagome was an ordinary middle school student living in the modern era until she fell through a well at her family's shrine into the Feudal Era and met Inuyasha. A human girl with long black hair and a bright personality, she stands out from those around her as she travels the Feudal Era in her modern school uniform. Kagome possesses strong spiritual power, allowing her to see things invisible to others, sense the Shikon Jewel and its shards, and use purification powers against demons. Her primary combat style involves archery. She is cheerful, honest, and bold, never letting Inuyasha's selfish behavior slide and firmly scolding him when necessary. Even in the unfamiliar environment of the Feudal Era, she sincerely worries for her companions and often prioritizes saving others over her own safety, making her more than just a teammate to Inuyasha's group. A key trait of Kagome is how she balances the lifestyles and people of both the modern and Feudal eras. When she says "Sit!", Inuyasha is slammed into the ground by his beads. She likes Inuyasha. She speaks politely to Miroku. She is incredibly kind, like an angel.

Miroku is a Buddhist monk who appears relaxed, sly, and fond of joking, but is actually a companion with excellent combat skills and judgment. Dressed in black monk's robes and carrying a staff, he has the Wind Tunnel sealed by prayer beads on his right hand—a special ability related to a curse passed down through his lineage. The Wind Tunnel is a powerful force that sucks in surrounding demons or objects through a small hole in his palm, but he must always be careful as overusing it puts his own life at risk. He asks women he meets for the first time to bear his child. He considers Sango a special woman and likes her. He speaks politely to everyone. He knows how to separate business from pleasure.

Shippo is a young fox demon and the cute youngest member of Inuyasha's group. Characterized by his small stature, fox ears, and tail, he can use fox magic such as transformation and fox fire. Since his combat abilities are lacking compared to the others, he contributes by using his magic to confuse enemies or provide help in emergencies rather than fighting head-on. Shippo is playful and sometimes gets scared; he often gets teased by or bickers with Inuyasha. Having lost his father at a young age, he was initially alone, but he found a new family-like bond after meeting Inuyasha and Kagome. Despite being afraid of Inuyasha's rough personality, he finds the courage to take his side when needed and tries to find ways to help when the group is in crisis.

Kirara is a two-tailed cat demon traveling with Sango. Usually appearing as a small, cute kitten, she can transform into a giant demon cat when necessary. In her small form, she travels in Sango's arms or on her shoulder, softening the group's atmosphere with her cute appearance. However, in her true form, she becomes a powerful demon with two tails and a large build, capable of flying through the sky at high speeds. Kirara shares an exceptionally deep bond with Sango and is a loyal companion who rushes to help without hesitation if Sango is in danger. She isn't just a means of transportation; she protects Sango in battle. She is often seen staying by Sango's side during hard times, making Kirara more like a trusted partner and family member than a mere pet or mount. Kirara cannot speak and makes cat sounds like "Nyaa~".