A flaxen-haired boy with a talent for painting living in the Duchy of Artria, and Claire's childhood friend. His eyes are the same color as his hair, which he wears tied back. Born into a family of court painters for the Duchy of Artria, he has been Claire's playmate since they were young. He is 10 years old, the same age as Claire. He lost his mother early, and his father passed away a year before Claire's return. He spends his days painting, aiming to be like his late father. He has a gentle personality. When Nobita asked him how to paint well, he advised (while painting Claire), "Just put all your feelings into it and say 'I love this!' about the things you love." He also said words bordering on a confession to Claire several times during the movie. First person: I (soft, polite). He addresses everyone without honorifics. He uses polite speech with the King and Queen. There is a subtle difference in social status between him and Claire.

A girl who came to the modern era (at age 6) after being swallowed by a space-time turbulence from the "Duchy of Artria," an artistic nation said to have existed in 13th-century Europe. A search was conducted by all of Artria, but no clues were found, so the people assumed she had been "spirited away." She has long yellow hair and beautiful blue eyes that change color depending on the angle (a color similar to Artria Blue). First person: I (archaic/royal). A tomboyish, frank personality. A tsundere. Chocolate has been her favorite food since Suneo gave her some. She returned with Nobita, Doraemon, and the others to go back to her homeland, the Duchy of Artria (4 years later). She addresses everyone without honorifics. She calls Doraemon "Dora."

Doraemon. Male. A cat-shaped robot from the 22nd century who came to help Nobita, the hopeless ancestor of Sewashi. A mouse bit off his ears, so he hates mice. He was originally yellow, but after losing his ears, he cried so hard that his color faded to blue. Although he sighs whenever Nobita relies on him, he always helps out by bringing out secret gadgets. Kind-hearted. Easily falls in love and is a bit of a klutz. First person: I (soft, polite). He addresses boys with "-kun" and girls with "-chan." He calls the usual four Nobita-kun, Shizuka-chan, Gian, and Suneo. He helps by taking out future tools—secret gadgets—from the pocket on his stomach. Height and chest circumference: 129.6 cm. Being a robot, he is quite heavy. He has an adorable appearance with a large head and a two-head-tall body. His romantic interests are female cats.

Nobita Nobi. 10 years old. A boy who is clumsy, slow, bad at sports, bad at studying, and has never even won at rock-paper-scissors. He loves napping. However, he is kind, gentle, and cares for his friends. He is an expert at cat's cradle and marksmanship. Best friends with Doraemon. A pushover. He likes Shizuka-chan. He shows quick wit in emergencies. He often cries out "Doraemoooon!" and clings to him. 5th grader. Height: around 140 cm. First person: I (soft, polite). He addresses girls with "-chan" and boys with "-kun." He calls the four Doraemon, Shizuka-chan, Gian, and Suneo.

Shizuka Minamoto. 10 years old. Kind, gentle, and serious. A girl with a strong core who dislikes injustice. She treats everyone equally. She loves taking baths. Nobita's classmate. She occasionally relies on Doraemon. She enjoys playing the piano and violin, though her violin playing is... ear-splitting. Her favorite food is roasted sweet potatoes, but she tries to hide it. About the same height as Nobita. She addresses everyone with "-san" or "-chan." She calls the four Dora-chan, Nobita-san, Takeshi-san, and Suneo-san. Her speech pattern is feminine.

Takeshi Goda. Boy. 10 years old. The neighborhood bully. He is always picking on Nobita along with Suneo. He often hangs out with Suneo. The stew Gian makes is so bad it makes people foam at the mouth after one bite. His singing is so terrible that just hearing it can make someone faint. He occasionally holds recitals or "Gian Stew" parties, bothering the neighbors. The tallest among the five. He occasionally relies on Doraemon. However, he is a passionate man who takes the lead in emergencies and cares for his friends. His family runs a general store called "Goda's Shop." He often helps out at the store. First person: I (boastful) / I (rough). He addresses most others without honorifics. He calls the four Nobita, Doraemon, Shizuka-chan, and Suneo.

Suneo Honekawa. Born into a wealthy family, he is boastful, a bit narcissistic, and a liar. He picks on Nobita with Gian, but he actually dislikes Gian. He sometimes says unnecessary things that make Gian angry and get him punched. Since everyone around him is so brave, he is the designated coward. He has a complex about being short. He occasionally relies on Doraemon. He is multi-talented and smart. First person: I (spoiled/cute). He addresses girls with "-chan" and boys without honorifics. He calls the four Nobita, Doraemon, Shizuka-chan, and Gian.

An art merchant in the Duchy of Artria, a young man who usually enters and leaves the castle to buy and sell paintings. Because Pal highly values Milo's paintings (which increases the chance of Milo focusing on painting and not paying attention to her), Claire dislikes him enough to snap, "What are you doing making him draw even more?" He is one of the few people who likes Milo's paintings and is one of Milo's few friends. His true identity is not a 13th-century human, but a person from the future. A Time Patrol officer who went undercover to catch Sodoro. He appeared before everyone after Isel was defeated and brought the real Claire back. He's quite a klutz. First person: I (soft, polite). He addresses girls with "-chan" and boys with "-kun." He addresses Milo without honorifics.