This is a list of characters in the fiction of Robert A. Heinlein:

A

  • Allucquere (a.k.a. "Mary") – The Puppet Masters
  • Security Chief Juan Alvarez – The Moon Is a Harsh Mistress
  • Richard Ames (a.k.a. Colin Campbell) – The Cat Who Walks Through Walls
  • Sam Anderson – Starman Jones
  • Anne (Fair Witness) – Stranger in a Strange Land
  • Major Ardmore – Sixth Column
  • Pallas Athene, intelligent computer, came to life after the original personality (Minerva) transferred to become a human woman – Time Enough for Love, The Cat Who Walks Through Walls, To Sail Beyond the Sunset

B

  • Dr. Hartley M. Baldwin (a.k.a. Gregory "Kettle Belly" Baldwin, "Mr. Two-Canes", "Doc") – Gulf, Friday, The Cat Who Walks Through Walls, Logic of Empire
  • Col. Richard Baslim (a.k.a. "Baslim the Cripple") – Citizen of the Galaxy
  • Thorby Baslim (a.k.a. Thor B. Rudbek, "Rudbek of Rudbek at Rudbek") – Citizen of the Galaxy
  • Gillian Boardman (Jill) – Stranger in a Strange Land
  • Joseph Bonforte – Double Star
  • Eunice Branca – I Will Fear No Evil
  • Jacob Burroughs – The Number of the Beast, The Cat Who Walks Through Walls
  • Hilda Burroughs (nee Hilda "Sharpie" Corners) – The Number of the Beast, The Cat Who Walks Through Walls, To Sail Beyond the Sunset
  • Thomas and Patrick Bartlett – Time for the Stars

C

  • Colonel Colin Campbell (a.k.a. Richard Ames) – The Cat Who Walks Through Walls
  • Dejah Thoris "Deety" Burroughs Carter – The Number of the Beast, The Cat Who Walks Through Walls
  • Zebadiah John Carter – The Number of the Beast, The Cat Who Walks Through Walls
  • Ben Caxton – Stranger in a Strange Land
  • Eldreth Coburn – Starman Jones
  • Grace Cormet – We Also Walk Dogs
  • Hilda Corners – see Hilda Burroughs
  • Ed Cowen – The Star Beast
  • Cynthia Craig – The Unpleasant Profession of Jonathan Hoag
  • Cuddlepup – The Star Beast

D

  • John "Johnny" Ezra Dahlquist – "The Long Watch". Referred to as Ezra Dahlquist in Space Cadet.
  • Daniel Boone Davis – The Door into Summer
  • Hazel Meade Davis (Sadie Lipschitz) (Gwendolyn Novak) The Cat Who Walks Through Walls (see also Hazel Stone below)
  • Manuel Garcia O'Kelly Davis (Mannie) – The Moon Is a Harsh Mistress, The Cat Who Walks Through Walls
  • Doctor-Livingston-I-Presume (cat) – Farnham's Freehold
  • Matt Dodson – Space Cadet
  • Dora (computer) – Time Enough for Love, The Number of the Beast, The Cat Who Walks Through Walls
  • Dora Smith (Adorable Dora) (Dorable) – Time Enough for Love
  • Dorcas – Stranger in a Strange Land
  • Dr. Archibald Douglas – Let There Be Light
  • Chief Dreiser – The Star Beast

F

  • Duke Farnham – Farnham's Freehold
  • Grace Farnham – Farnham's Freehold
  • Hugh Farnham – Farnham's Freehold
  • Karen Farnham – Farnham's Freehold
  • Justin Foote – Methuselah's Children
  • Justin Foote 45th – Time Enough for Love, The Cat Who Walks Through Walls
  • Friday a.k.a. Marjorie Baldwin – Friday
  • Clark Fries – Podkayne of Mars
  • Podkayne Fries – Podkayne of Mars
  • Dr. Ftaeml – The Star Beast
  • Fuzzy Britches (flat cat) – The Rolling Stones

G

  • Larry Gaines – The Roads Must Roll
  • Galahad – Time Enough for Love
  • Gay Deceiver – The Number of the Beast, To Sail Beyond the Sunset, The Cat Who Walks Through Walls
  • Gekko – Red Planet
  • Frederica "Ricky" Gentry – The Door into Summer
  • Alec Graham / Alex Hergensheimer – Job: A Comedy of Justice
  • Joe Green – Gulf
  • Sergei Greenberg – The Star Beast
  • Joe-Jim Gregory – Orphans of the Sky
  • Oscar Gordon – Glory Road (also appears briefly in The Number of the Beast)

H

  • Delos D. Harriman – The Man Who Sold the Moon, Requiem, To Sail Beyond the Sunset
  • Jubal Harshaw – Stranger in a Strange Land, The Number of the Beast, The Cat Who Walks Through Walls, To Sail Beyond the Sunset, Citizen of the Galaxy (as James J. Garsh)
  • Don Harvey – Between Planets
  • Gretchen Henderson, daughter of Ingrid and Jinx Henderson – The Moon Is a Harsh Mistress, The Cat Who Walks Through Walls, To Sail Beyond the Sunset
  • Ingrid Henderson Jinx Henderson's wife, direct descendant of Hazel Stone – The Cat Who Walks Through Walls
  • Jinx Henderson, born John Black Eagle, took Ingrid Henderson's surname when he married her – The Cat Who Walks Through Walls
  • Wolf Henderson, Ingrid and Jinx Henderson's son – The Cat Who Walks Through Walls
  • Alex Hergensheimer / Alec Graham – Job: A Comedy of Justice
  • Mortimer "Mort the Wart" Hobart – The Moon Is a Harsh Mistress
  • Mycroft "Mike" Holmes (a.k.a. Adam Selene, Mychelle Holmes) – The Moon Is a Harsh Mistress
  • Myra Holtz – The Star Beast
  • Ira Howard – Methuselah's Children
  • Jonathan Hoag – The Unpleasant Profession of Jonathan Hoag
  • Hugh Hoyland – Orphans of the Sky

J

  • William 'Tex' Jarman – Space Cadet
  • Oscar Jensen – Space Cadet
  • Maureen Johnson – see Maureen Johnson Smith, below
  • Joseph – Farnham's Freehold
  • Max Jones – Starman Jones
  • Zebadiah Jones – If This Goes On—

K

  • Karen – Gulf
  • Henry Gladstone Kiku – The Star Beast
  • Wyoming "Wyoh" Knott – The Moon Is a Harsh Mistress

L

  • Stuart Rene LaJoie – The Moon Is a Harsh Mistress
  • Andrew Jackson Libby, later Elizabeth A. J. Libby Long – Misfit, Methuselah's Children, Time Enough for Love, The Cat Who Walks Through Walls. Also known as "Slipstick" Libby, and in Misfit, has the nickname "Pinky". The Number of the Beast
  • Elizabeth Andrew Jackson Libby Long (originally Andrew Jackson Libby) – The Number of the Beast a.k.a. "Pinky" and "Slipstick"
  • Maureen Johnson Smith Long – see Maureen Johnson Smith, below
  • Lapis Lazuli Long – Time Enough for Love, The Number of the Beast
  • Llita – Time Enough for Love
  • Lazarus Long (a.k.a. Woodrow Wilson Smith) – Methuselah's Children, Time Enough for Love, The Number of the Beast, The Cat Who Walks Through Walls, To Sail Beyond the Sunset
  • Lorelei Lee Long – Time Enough for Love, The Number of the Beast
  • Lummox – The Star Beast
  • John Lyle – If This Goes On—

M

  • Mr. MacClure – The Star Beast
  • Dr. Mahmoud (a.k.a. "Stinky") – Stranger in a Strange Land
  • Margrethe – Job: A Comedy of Justice
  • Jim Marlowe – Red Planet
  • Dr. Mary Lou Martin – Let There Be Light
  • Mary (a.k.a. "Allucquere") – The Puppet Masters
  • Helen Mayberry – Time Enough for Love
  • Gloria McNye – "Delilah and the Space Rigger"
  • Memtok – Farnham's Freehold
  • Minerva – intelligent computer used to run the planet Secundus, later transformed into a human woman – Time Enough for Love, The Cat Who Walks Through Walls, To Sail Beyond the Sunset
  • Miriam – Stranger in a Strange Land
  • Frank Mitsui – Sixth Column
  • Mycroft – see Mycroft "Mike" Holmes, above, The Moon Is a Harsh Mistress
  • Mother Thing – Have Space Suit—Will Travel

N

  • Nehemiah Scudder – Logic of Empire
  • Andrew Nivens, a.k.a. "The Old Man" – The Puppet Masters (his name is not mentioned, only inferred – the President calls him Andrew and his son's last name is Nivens)
  • Elihu Nivens, a.k.a. Sam Cavanaugh – The Puppet Masters
  • Gwen Novak – The Cat Who Walks Through Walls
  • Dr. Sven Nelson – Stranger in a Strange Land

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  • Judge O'Farrell – The Star Beast

P

  • Bernardo de la Paz (Prof) – The Moon Is a Harsh Mistress
  • Patty Paiwonski – Stranger in a Strange Land
  • Penny – Double Star
  • Petronius The Arbiter a.k.a. Pete (cat) – The Door into Summer
  • Peewee – Have Space Suit—Will Travel
  • Longcourt Phyllis – Beyond This Horizon
  • Hugo Pinero – Life-Line
  • Pixel (cat) – The Cat Who Walks Through Walls, To Sail Beyond the Sunset
  • Ponse, The Lord Protector – Farnham's Freehold
  • Pug – Glory Road

R

  • Random Numbers (Cat) – To Sail Beyond the Sunset
  • Rhysling, "Blind singer of the spaceways" – The Green Hills of Earth, Time Enough for Love
  • Juan Rico – Starship Troopers
  • Wes Robbins – The Star Beast
  • Rufo – Glory Road, The Cat Who Walks Through Walls
  • Clifford "Kip" Russell – Have Space Suit—Will Travel

S

  • Nehemiah Scudder – If This Goes On—
  • Johann Sebastian Bach Smith (later Joan Eunice Smith Solomon) – I Will Fear No Evil
  • Sister Maggie – If This Goes On—
  • Maureen Johnson Smith – Time Enough for Love, The Cat Who Walks Through Walls, To Sail Beyond the Sunset, The Number of the Beast
  • Valentine Michael Smith – Stranger in a Strange Land
  • Woodrow Wilson Smith – birth name of Lazarus Long (see above)
  • Lawrence Smythe (The Great Lorenzo) – Double Star
  • Jacob Moshe Solomon – I Will Fear No Evil
  • Betty Sorenson – The Star Beast
  • Mary Sperling – Methuselah's Children, Time Enough for Love
  • Star, a.k.a. Her Wisdom – Glory Road, The Cat Who Walks Through Walls
  • Lowell "Buster" Stone – The Rolling Stones, The Cat Who Walks Through Walls (inferred; "Hazel's youngest grandson" is the doctor treating Richard)
  • Castor Stone – The Rolling Stones, The Number of the Beast, The Cat Who Walks Through Walls
  • Edith Stone – The Rolling Stones
  • Hazel Stone – The Rolling Stones, The Moon Is a Harsh Mistress, The Number of the Beast, The Cat Who Walks Through Walls (see also Hazel Meade Davis, above)
  • Meade Stone – The Rolling Stones
  • Pollux Stone – The Rolling Stones, The Number of the Beast, The Cat Who Walks Through Walls
  • Roger Stone - The Rolling Stones
  • John Thomas Stuart – The Star Beast

T

  • John Thomas – The Star Beast
  • Dejah Thoris – see Dejah Carter, above
  • Colonel Towers – The Long Watch

V

  • Becky Vesey (a.k.a. Madame Alexandra Vesant) – Stranger in a Strange Land
  • "Shorty" Van Kleeck – The Roads Must Roll

W

  • Rod Walker – Tunnel in the Sky
  • Ira Weatheral – Time Enough for Love
  • Barbara Wells – Farnham's Freehold
  • Willis (Bouncer) – Red Planet
  • Wingate – Logic of Empire

Z

  • Charles Zim – Starship Troopers
  • A Heinlein Concordance, The Heinlein Society