These are the characters that will automatically join you at different points in the game, you can't elect to remove any of these for others as they are essential to the story.
JP name: Ratix Farrence
Voice Actor: Mamoru Miyano (JP); Yuri Lowenthal (EN)
Roddick is a member of the local town defense force, a job he enjoys, but ultimately finds un-fulfilling and of recent times he has often been found lost in thought. Roddick is a passionate man which will fight for what he believes in with everything he has.
Roddick is the main character of the game, and one you will control at all times.
JP name: Milly Kiliet
Voice Actor: Hitomi Nabatame (JP); Katie Leigh (EN)
Millie is a cheerful girl whom has been friends with both Roddick and Dorne for many years, she is often full of crazy ideas and enthusiasm. Despite her age she is a competent healing Symbologist, a skill she learnt from her famous father who is known as one of the best Symbologists in the land.
Millie will begin with you during your travels, and while she leaves temporirly she will rejoin you later on in the game, when exactly depends on events you engage in during the game.
JP name: Dorn Marto
Voice Actor: Kentaro Ito (JP); Dick Smallberries Jr. (EN)
Dorne is a longtime friend of both Milley and Roddick, who is also part of the town defense force. He however finds the job rather boring as there is no real challenge for him in it. Dorne also tends to get jealous of how close both Milley and Roddick are.
Dorne will also be part of your original three characters for the early parts of the story.
Ronyx J. Kenny
JP name: Ronixis J. Kenni
Voice Actor: Kenji Hamada (JP); Sam Gold (EN)
Ronyx is the captain of the Terran alliance, he is a well respected leader and often remains cool, calm and collected in even the most awkward of situations. Ronyx is unafraid to venture outside of the square to go with what he believes is right. He is also the father of the lead character in Second Story, Claude.
You will see Ronyx early in your travels, and he will join you as events unfold a little later in the game.
JP name: Iria Silvestoli
Voice Actor: Sanae Kobayashi (JP); Julie Maddalena (EN)
Ilia is second in charge of the Terran alliance, who loyally works alongside Ronyx. Unlike Ronyx however she tends to be a little more serious, investigating things more thoroughly and more likely to take a book approach to things. Although, all the same she has a softer, more cheerful side while not on the job, Ilia knows her alcohol well too.
Ilia will join you quite early in the game, and remain in your party from that point onwards.
The following characters are optional, in your final party you can have up to four of them. Some you will see during your travels and will temporarily aid you, but you will be able to elect whether you want them to join by choice, or engaging in certain events. Herein will be a few pointers on how to recruit them, if you want to try find them on your own look over those parts.
JP name: Cius Warren
Weapon: Double-Handed Sword
Voice Actor: Hiroki Touchi (JP); Grant George (EN)
Cyuss is traveling looking for every opportunity to improve his swordsmanship skills and increase his strength, in Roddick he sees something special and would like the opportunity to tag along with him, and even consider him his rival. Cyuss will often say what he thinks in a rather unedited fashion, he absolutely loves his alcohol as well, Cyuss will often be found in a local bar if possible.
Cyuss will tag along early in the game to assist you on one your first assignments, once this is finished you will have an option to allow him to join or not. Keep in mind though if you elect for him to join, you will not be able to recruit Ashlay.
JP name: Fear Mell
Weapon: Flying Daggers
Voice Actor: Megumi Toyoguchi (JP); Dorothy Fahn (EN)
Phia is an important member of the well respect Astral Knights unit, and as powerful as an assassin, many in Astral consider her in high regard despite her young age. She is also a long time friend of Cyuss, she too like Cyuss can at times be somewhat abrupt - probably influenced by him.
Depending on actions you make during the game she may become available early (if you do not recruit Ashlay or Cyuss), or you will be able to allow her to join later in the game if you have some spaces left available.
JP name: Ashlay Barnbelt
Voice Actor: Norio Wakamoto (JP); Michael McConnohie (EN)
Ashlay is known as the hero of the demonic wars, he is an experienced and knowledgeable soldier that is known right across the land. Ashlay is in search of finding a worthy swordsman who he can pass on a number of his skills to. He is not one to brag about his past endeavors and is quite humble about any praise he receives, that is unless one he deems young and immature feels otherwise - at this point he will demand the respect he deserves.
Providing you did not recruit Cyuss when you are able to you will be able to get Ashlay when you find the arena. He is missable however if you do not follow a sequence of events to recruit him upon your first visit of this particular town...
JP name: Perisie
Race: Lesser Fellpool
Voice Actor: Yukari Tamura (JP); Alicyn Packard (EN)
Pericci is a rare variant of Fellpool who has the ability to completely transform into a kitten. Pericci struggles to trust humans as she has often been treated hardly by others, and considers her Ocarina her best friend. She has a beautiful heart and will commit 100% to anyone that treats her with respect.
Fairly early in the game you will be able to search a prison and rescue her, and while doing so you can pick up her Ocarina, if you do not do this you will not be able to recruit her. If you do manage this however she will be an optional recruitment following certain events later on in the game.
JP name: Tinek Arukena
Voice Actor: Chihiro Suzuki (JP); Vic Mignogna (EN)
T'nique is a rare Lycanthrope, due to a particular virus in his body he can actually transform into a werewolf when excited, making him devastating in battle. T'nique loves to train and improve his skills in battle at every opportunity, regardless of the danger, the bigger the risk the greater the test.
Once you make you way to 'the arena' you will have the opportunity to recruit T'nique, if you can progress well in ranking battles and have a couple of spaces free he offer his services to you thereafter.
JP name: Jousha Jerand
Voice Actor: Jun Fukuyama (JP); Ethan Murray (EN)
Ioshua is one of a few Featherfolk - who is also skilled in Symbology. At a young age an unfortunate incident resulted in him getting separated from his sister. While he dislikes fighting he continues to desperately search for his missing sister irrespective of the risk.
If you recruit Ashlay and make way for a particular mysterious place at your first opportunity you will be able to meet up with him, and recruit him if you wish.
JP name: Marvel Frozen
Weapon: Raven Orb
Voice Actor: Houko Kuwashima (JP); Tara Platt (EN)
Mavelle is a beautiful, mysterious woman who seeks vengeance against who she believes killed her parents, the Crimson Shield. Otherwise not a great deal is known about her, in battle she is able to wield an Orb as a weapon like no other.
You will meet up with Mavelle during your travels, however she will not join you unless both Ashlay and Iousha are in your group.
Welch Vineyard [*New to First Departure*]
JP name: Welch Vineyard
Weapon: Finger on a stick! (aka Pointer)
Voice Actor: Tomoe Hanba (JP); Melissa Fahn (EN)
The clumsy, yet hilarious Welch from the Craftsmans Guild in Till the End of Time somehow can be found in First Departure, it's completely unknown as to how she made her way to Roak. She is yet again involved in some incredible creations and is apparently waiting for Roddick and knows exactly what he is up to...
Late in the game you will be able to find her in a hidden hut somewhere on Roak...
Erys (Jerand) [*New to First Departure*]
JP name: Eris
Voice Actor: Kana Ueda (JP); Stephanie Sheh (EN)
Erys is the sister to Ioshua and also one of the many rare Featherfolk, skilled with Symbology arts. Erys stands out with gold hair and beautiful wings, much alike an angel. However she has been missing for many years and little is known about her.
If you manage to recruit both Ioshua and Mavelle (meaning you'll need Ashlay too) in your travels she can be found in a hidden area late in the game...