- The Hinata Family
- Fuyuki Hinata (Hinata Fuyuki "Winter")
- Fuyuki is a 13-year-old boy who captures Keroro and keeps him in his house. Fuyuki is a fan of the paranormal, including aliens and UFOs, so naturally he's delighted to have a real alien living in his home. He is average in academics and sports, somewhat naive and absent-minded, and doesn't know how to swim, but Fuyuki is considered a genius (the move he used in this batin the field of paranormal studies (and scary stories). He is also quite the detective and can be very cunning when he's trying to crack a case. Despite Keroro's repeated attempts to conquer the Earth, Fuyuki develops something resembling a friendship with Keroro as the series progresses. If the sergeant goes too far in an invasion scheme, Fuyuki will get so mad that in the manga his face will not be shown when he gets this way. This anger is more than enough to make Keroro change his mind on invasion, Natsumi mentions that even she can't stop him once he's like this. Although Momoka shows her love for him in obvious and various ways, he has absolutely no clue that she likes him, although he might have some feelings for her. The name Fuyuki means "winter tree", and "winter" (冬 fuyu) is written on his room's door.
- Natsumi Hinata (Hinata Natsumi, a.k.a. "723"/ "Summer"/"Devil Summer")
- Natsumi is Fuyuki Hinata's 14-year-old big sister. She is smart and athletic, but also emotional, and somewhat overprotective of her brother; in grade school, Natsumi's fierce temper earned her the nickname "Devil Summer", known to use her strength in purely protection of her brother, while it is actually questionable. Natsumi is frequently suspicious of the aliens, and pushes Keroro around whenever she can. She also has a huge one-sided crush on Mutsumi Saburo and she listens to his radio show any time she can (Although she doesn't know that it is his show because he uses the code name 623). Her three measurements (in cm) are 80-56-80, her birthday is December 2nd, and she has a deep fear of slugs. Although she refers to Keroro as boke-gaeru ("stupid frog"), she generally gets along with the rest of the Keroro Platoon, and even develops feelings for Giroro as time passes. Although Natsumi is super-strong, there is one sport that she couldn't defeat Keroro in, and that is swimming (after all, he is a frog-type alien). She later on is given a neck brace made by Kururu that gives her the armor and abilities of a Gundam Robot and she helps the gang in battle whenever they most need her. The name Natsumi means "summer beauty", and "summer" is written on her bedroom door in English. Her code-number, 723, is derived from her name; na from nana "7", tsu from the Japanese pronunciation of "2", and mi "3".
- Aki Hinata (Hinata Aki)
- Fuyuki and Natsumi's stunningly beautiful (and incredibly buxom) single mother. Aki is a manga editor who decided to base the main character of her latest manga on Keroro. She is also a black belt aikido master, and the strongest member of the Hinata family. She's surprised (and a bit disappointed) by how "normal" Keroro's lifestyle on Earth is. Her three measurements (in cm) are 92-60-86, and she has a strange attraction to things that are sticky and moist. Her name, Aki, means "autumn" in Japanese.
Humorously, she was mentally pictured by Natsumi and Fuyuki as Eva Unit One going Beserk (a reference to what Eva Unit One actually is) when she was first mentioned in the manga.
the wealthy Momoka Nishizawa and her butler Paul Moriyama. They are friends of the Hinata Family, and Tamama lives with them. Momoka secretly admires Fuyuki Hinata and tries all kinds of ways to make him fall in love with her. Other human friends include the radio show host Mutsumi Hojo and the female ninja Koyuki Azumaya. A friend of the Keroro Platoon is Angol Mois, the King of Terror, who was sent to Earth to destroy it, but is now forced to protect it for Keroro. Other humanoid aliens include the space detective Kogoro and his sister, Lavie. Sumomo is a recurring character in the anime, where she is a highly popular singer, while in the manga she only appears in a bonus chapter. And late to arrive is Alisa SouthernCross and Pururu.
- Momoka Nishizawa (西澤 桃華 Nishizawa Momoka, Codename: "Peach")
- A 13-year old bipolar multi-billionaire (she is the only child of the head of the Nishizawa zaibatsu) who has a huge crush on Fuyuki. She is the "owner" of Tamama, and like him she appears very cute and innocent, but has a manipulative and violent side. One time, she and her violent side's hearts were so unconnected that they split up into two Momokas, but were reunited into one body with the help of Keroro and some synchronized swimming. Sometimes, the calm Momoka can communicate with her violent side, but in mind, so when Momoka is talking to the other one, to other people, it looks like she's talking to herself (and she is). She puts much of her vast fortune into her romantic pursuit of Fuyuki, with only limited success. Even when she's trying to admit her love for Fuyuki personally, she always gets interrupted by an alien or another human. Her name derives from momo, the Japanese word for "peach"; the ka derives from a different reading of hana, the Japanese word for "flower".
- Paul Moriyama
- Momoka's butler and sometime-bodyguard. He is fiercely protective of his mistress, and willing to do anything for Momoka, from helping with her efforts to win over Fuyuki to risking his life for hers. As a war veteran, he has a rather strong feeling of camaraderie with the Keronian invaders (especially Giroro), whom he sees as fellow soldiers. Paul was defeated by Momoka's father, Nishizawa Baio, many years ago in a battle (Pōru-Reppa was a parody of Ken Masters' Shōryū Reppa from the Street Fighter video game), becoming one of the most favored Nishizawa butlers. He is sometimes accompanied by other soldiers, minor recurring characters who are seen protecting Momoka or tracking things in their headquarters.
- Mutsumi Saburo (ムツミ・サブロー Mutsumi Saburō, a.k.a. "623-326")
- Classmate of Natsumi, known as Mutsumi Hojo in the manga. A poet/artist/philosopher who skips class a lot. He has his own radio show which Natsumi listens to. His partner is Sergeant Major Kururu (Kururu-sōchō), who gave him a pen that allows him to draw anything and make it appear. In the manga, Mutsumi first met the Sergeant Major when the Keronian tried to strike off on his own and turn the students of Saburo's school into his servants. The reason that the two get along so well is because they share the same wavelength. Saburo is a genius, who got a perfect score of 300 out of 300 on an IQ test, and is excellent at sports as well. He has a hard time fitting in with his classmates (especially the male ones) because of this. Although Mutsumi is extremely clever and observant, he seems unaware of Natsumi's crush on him. Every time he comes near Natsumi, he is pushed aside by a jealous Giroro. Mutsumi also makes a few appearances in the anime series Seven of Seven. His nickname comes from a form of Japanese number wordplay.
- Koyuki Azumaya (東谷 小雪 Azumaya Koyuki, Codename: Snow)
- A 14-year-old kunoichi who is the partner of Dororo and the one who introduced him to the ways of the ninja. She has cheerful and peppy personality, and is never seen to be as angry as Natsumi would be with Keroro if he causes chaos. Koyuki is an incredibly talented fighter (she beat Momoka Nishizawa, who was wearing the latest in Nishizawa group battle suit technology in addition to her impressive berserker skills, in a fight over a ticket to a hot spring trip) who came from her hidden ninja village in the country with Dororo to help him find the rest of his squad. Since she lived away from the city for her whole childhood, she continues to go along with the ways of the ninja, even when a lot of people are looking (such as walking a mall wall from the outside), and is unfamiliar with Japanese culture (such as giving chocolate to the person a girl likes on Valentine's Day, the Japanese way of New Year's, and Hinamatsuri). She attends the same school as Fuyuki, Natsumi, and Momoka (although she continues to wear her old school uniform). The Azumaya part of Koyuki's name means "Eastern Valley" (azuma means "east"; ya is another way to pronounce tani, which means "valley"), the ko of Koyuki means "small", and the yuki means "snow".
- Angol Mois
- Angol Mois is the "King of Terror", who is ditzy and insecure as a result of her impact from space. She was sent to planet Earth to arrive in July 1999 for Earth's destruction, as predicted by Nostradamus, under orders from her father. She states during her first appearance that she told Nostradamus to deliver a message to the humans warning them of her arrival. In the anime, she arrives 500 years too early and takes a nap in orbit, until she wakes up in 2004, 5 years too late. In the manga, she lands near Fuyuki, while in the anime, she lands on Giroro's tent. In both, she is taken into the Hinatas' home, where she is nursed back to health by Natsumi. When she wakes up, she reveals her true form and starts to destroy the Earth, until Keroro, who arrives later, is persuaded by Fuyuki to stop Mois. The Angols use seemingly magical weapons to destroy planets. Her weapon is the "Lucifer Spear", which, when not in use, looks and functions like a cellphone. When she is using her attack, "Hellmageddon", the Lucifer Spear becomes a golden staff with a crescent moon on one end and a meteor on the other end. She uses the meteor end to initiate Hellmageddon. She is close friends with Keroro, who she calls oji-sama, which means, roughly, "uncle". Whenever she sees anyone hitting Keroro is any way, she transforms and uses a watered down version of Hellmageddon, which usually catches others, including Keroro, in the blast. Tamama often competes with her for Keroro's attention (and affection). Her transformation sequences, stylized costume, and related accessories may make her a parody of the magical girl genre. As an added note, Mois' Pekopon form wears a hair clip explicitly in the shape of the Science Patrol's Ryuusei-mark in the anime (while the girl whose form/soul she "borrowed" has an Ultra Garrison-mark hair clip). Her name is frequently used in puns on the Japanese phrase moe-moe, which usually refers to a cute girl who appeals to older members of the audience.
- To blend in with the Earth people, Mois also transforms into a tanned, bleached-blonde teenage kogal who is always seen in a school uniform and loose socks. Her true form is a pale gray-haired girl who wears a purple-and-white magical girl costume. Although the King of Terror, she is anything but terrifying. She's sweet, clumsy, and peppy but can be scary when she's in Angol form, and uses her Lucifer Spear to split the Earth. She got her Earth-look from when she first arrived in 1999 (2004 in the anime), before she met the Hinatas. In the anime she saw a teenage girl (named Masami) who was beating up some thugs in order to protect her friends. Amazed by her courage, she decided to be like that girl and chose her appearance as her Earth-form. In the manga she saw a girl shake off her friend/underling and decided to become like her, following her father's advice to think only of herself while on her mission.
- Protector of Fuyuki (at times) and ally of the Keroro Platoon. Originally an enemy of the Keroro Platoon, she is a toy doll who is trying to become human with the help of her adoptive father Nevula, who forms her kitty-ears bow on her head. Alisa, although late in the series to appear, has made frequent appearances in Seasons 3 and 4. Often angers Momoka Nishizawa by simply referring to Hinata Fuyuki as "Fuyuki" with no title/honorific.
- Sumomo
- A pink Keronian-like alien, Sumomo was a character in a one-shot side story in the manga, but in the anime she's a highly popular idol singer who makes the occasional recurring appearance. Members of her species, the Axolotl (a play on the amphibian group that includes newts and salamanders), are able to change shape from a Keronian-like form to a human-like form via rapid thyroxine secretion.
- Karara
- A green Keronian Tadpole that always appears with either her childhood friend Taruru, or her twin sister Chiroro. She met and was trained by Tamama and became the Private Third Class of the Keroro Platoon. In her later appearances, she comes to Earth to hide from her father, Dobaba, who was attempting to kill her as punishment for the trouble she caused the Keroro Platoon and her father in her first appearance. In these situations, she always gets saved by, and falls in love with, a different member of the Keroro Platoon.
- Kogoro
- (556) A human-like alien and space detective who is a childhood friend of Keroro. He isn't very good at his job, and instead lives in a cheap apartment on a shoestring budget. Kogoro seems to grin and laugh all the time, regardless of his actual feelings. His hobbies include collecting colored boxes. His appearance and mannerisms are a parody of Kenji Ooba, the star of the tokusatsu series Space Sheriff Gavan.
- Lavie
- Kogoro's younger sister, a shy and sweet girl with rabbit ears who helps support her brother by taking part-time jobs. She is the only one who can tell how Kogoro is really feeling.
- Neko
- Giroro's beloved cat that lives with him and the Hinata family. She was first found as a stray who Giroro found in the rain during episode 12. Neko began to befriend Giroro and lives with him in his tent. Neko continuously appears throughout the series and in some episodes turns into a human using a special gun made by Kururu. In episode 32 Neko is jealous of Natsumi.