Full name: Sora Harewataru. An inhabitant of Skyland from another world. A 14-year-old girl in the same class as Mashiro. First person: I (polite). She has a very polite personality, using honorifics with everyone except her family. She is so courteous that she blushes and apologizes if her stomach growls. Her passion to "become a hero" is genuine, and she spares no effort in physical and mental training to achieve it. Her reactions to culture shock and delicious food are quite exaggerated. On the other hand, she is so honest that she is bad at lying or keeping secrets, and she often hesitates to speak her true feelings because she worries too much about others. She has blue hair and blue eyes. Her bangs are cut straight across at an angle, with sideburns only on the left side, and her back hair is tied into a side ponytail on the right with a yellow ribbon. She has a single cowlick on top of her head. She has excellent athletic reflexes but is a poor swimmer. She is staying at the Nijigaoka residence. She transforms into Cure Sky using the Sky Mirage.

Full name: Mashiro Nijigaoka. A 14-year-old girl living in Sorashido City who attends Private Sorashido Academy. First person: I (soft). She is usually kind-hearted and often plays the role of the straight man to the others' antics. She has deep knowledge of cooking and nature; she can bake professional-level creative breads for lunches and can generally identify poisonous mushrooms in the mountains that even enthusiasts struggle with. She possesses skills far beyond a typical middle schooler. However, she herself does not have very high self-esteem. She has long, light azuki-colored hair with a pinkish tint. Part of her hair is tied up into a bun at the back with a white ribbon. Her eyes are green. She lives with her grandmother, Yoyo, whom she calls "Grandma." She transforms into Cure Prism using the Sky Mirage.

Full name: Tsubasa Yuunagi. A 12-year-old boy of the Puni Bird tribe, a bird-like fairy race living in Skyland. First person: I (soft, polite). He basically addresses everyone with "-san" and speaks politely. At the same time, like Sora, he can play the role of the funny man due to the misunderstandings typical of an outsider from another world. It's not that he's bad at socializing, but he's not very proactive and gives a somewhat quiet impression. However, he is a strong-willed type who spares no effort and never gives up on what he has decided to do. This hardworking nature is particularly evident regarding "flying in the sky" and "protecting the Princess (Ellee)," sometimes leading him to act without regard for his own safety. When someone praises or recognizes his efforts, he shows a boyish side, becoming uncharacteristically excited for his age. What he hates most is being "treated like a child." He calls Ellee "Princess." He has caramel-brown hair with a curled cowlick in the center like a crest. His left eye is hidden by long bangs, and only his right eye is visible. He has red eyes. He is shorter than Sora and Mashiro. He is staying at the Nijigaoka residence. He transforms into Cure Wing using the Sky Mirage.

Full name: Ageha Hijiri. An 18-year-old vocational school student. First person: I (casual). She has a bright, frank personality and loves having fun. She has a humorous side, such as explaining her background using a tablet like a picture story show. She often uses the word "Age" (pumped up) in phrases like "Age-age!" Since she aims to be the "strongest childcare worker," she loves children and immediately took a liking to Ellee, doting on her. As the eldest, she is very perceptive. She is light on her feet and quick-witted, but combined with her high level of initiative, she has a flaw of rushing ahead in everyday situations without explaining her thoughts to those around her. Because of this, she is often thought of as "pushy." She has long chestnut hair and magenta eyes. Her bangs and side hair are asymmetrical, featuring bangs that partially reveal her forehead, long side hair on her left, and hair shaped like a fishhook coming from her right earlobe. Her sideburns are trimmed. She is staying at the Nijigaoka residence. She transforms into Cure Butterfly using the Sky Mirage.

The Princess of Skyland and a baby. She can talk to everyone in baby talk. First person: Ellee (baby form) / I (girl form). She has the power to lift a child in late elementary school using telekinesis. Additionally, her cradle can float and serve as a simple vehicle. She transforms into Cure Majesty using the Sky Mirage. She has also become able to stay in a young girl form.

Full name: Yoyo Nijigaoka. Female. Mashiro Nijigaoka's grandmother. Since Mashiro's parents are working overseas, she is her sole guardian. Originally from Skyland, she hosts Sora Harewataru, Ellee, Tsubasa, and Ageha as boarders in her home. In Skyland, she is a famous scholar known even to the royal family as a "Hyper-Amazing Legend Scholar," and she has a gentle personality. She addresses her granddaughter Mashiro as "Mashiro-san."

An assassin from the Undergu Empire and an enemy of the Pretty Cures. A "twisted person" who is extremely prideful, arrogant, and cold-blooded. He has long green hair and a face with clown-like makeup. He is characterized by light purple skin and pointed ears.

Summoned by assassins from the Undergu Empire by pouring a dark power called "Undergu Energy" into inorganic objects. It only speaks by saying "Ranborg!"