The Yaiba: Samurai Legend manga series features an extensive cast of characters created by Gosho Aoyama.

Yaiba's Group Yaiba Kurogane

is the Thunder God incarnate, and later acquires the legendary Dragon's Orb. Since he fights without the Thunder Orb in the socketed Thunder God's sword, he was spared the same fate of being possessed by the sword's owner that had befallen Onimaru. Aside from his skills with the sword and his keen senses, he is also able to converse with animals. For some time, Yaiba was fighting without any orbs. While this left him vulnerable because he had no divine assistance, it also let him master several techniques: the , in which he spins the sword like a lawnmower blade by twirling it with his fingers in the hole where the orbs would usually go in; the , in which he executes a downward slash in a furious zigzag pattern, and finally; the , in which he executes a full-body vertical spin in the air by sticking his sword between his feet, using the momentum to create a buzzsaw-like effect. Another technique, "The Wave of Wind Thunder", can only be used along with Takeshi Onimaru, for both Thunder God and Devil Wind Swords are needed in order to execute this technique. It is the resulting combination of Yaiba's "Lightning Blast" and Takeshi's upgraded Devil Wind Slash "Tornado Ripper". They used this move against Kaguya-hime. Personality-wise, Yaiba is a carefree, happy-go lucky, yet reckless individual who often acts as somewhat of a goofball when training, but is surprisingly clever and persistent.

Sayaka Mine

is Yaiba's unlikely love interest. She originally had not intended to join Yaiba's journey, and simply found herself tied to Kagetora with Yaiba going towards the Thunder God's sword when she woke up. Later it is revealed that she is the Dragon Maiden incarnate, the key to Kaguya's true form.

Kenjuro Kurogane

is Yaiba's father. He was only shown in one episode of Yaiba in the anime, whereas in the manga he accompanies Yaiba to Tokyo. He doesn't stay very long, though, but occasionally comes back to check up on Yaiba.

Musashi Miyamoto

is the legendary 400-year-old samurai Musashi took it upon himself to guard the Thunder God sword and lived as a hermit quite near it (although this is puzzling considering that the Thunder God's sword itself electrocutes all unworthy of it). Since his time on the mountain, he has taught one student and started using two swords due to old age. Like all old men, he is lecherous. He serves as Yaiba's teacher, especially upon controlling the Thunder Orb.

Kojiro Sasaki

has been dead for a long time, having been defeated, killed in a duel and buried by Musashi himself. However, he was given new life by Onimaru, through Spiderman's reviving Ritual (or rather, it was the stench coming from the foul-smelling ingredients used for the reviving ceremony that brought Kojiro back, as well as the Hakki's facial slapping), on the condition that he kill Yaiba. After getting beaten by Yaiba while using the Thunder Orb, he then becomes friends with them in order to beat them. Kojiro uses an enchanted sword (Washing Pole as he calls it) that grows longer on his whim, and thus the maximum length that the sword can attain is limited only by Kojiro's imagination. It doesn't seem to be particularly durable as the other mystical swords shown in the series, since various characters (even those with no mystical powers or weapons to begin with) have been known to cut the sword all the way down to the guard with apparent ease. Thankfully, Kojiro's sword's ability allows it to recover the severed blade simply by lengthening itself indefinitely. Perhaps the sword's only true weakness is the fact that it is very sensitive to salt water (even to teardrops); even a slight splash will cause it to spontaneously lengthen against Kojiro's will, making it inadvisable to use in a battle where a large body of salty water happens to be nearby. He is also a natural playboy – one of the series' many running gags. Kojiro usually needs to be manhandled by others in order to "help" him subdue his overwhelming idiocy. Despite this, he serves as one of the shows more prominent sword fighters in the series

Jubei Yagyu

was revived by Onimaru and defeated Kojiro Sasaki by kicking Kojiro's overextended sword straight down to Sayaka Mine's house. Before he defeated Yaiba, Musashi yelled at him and withdrew himself from attacking to join with Yaiba's group. What Onimaru didn't know about is that he is Musashi's disciple. He tends to be suicidal, as he always attempts to commit seppuku if he commits an error or feels that he did something dishonorable. When Jubei got drunk thanks to Musashi, who forcibly makes him drink sake (Japanese rice wine), Onimaru takes advantage of the situation and summons a demon while he's in a drunken state to turn him into a werewolf which has the same skills (albeit heightened to a degree) like a normal Jubei but is murderous and loves drinking sake. He can revert to Jubei when he's knocked out cold, but when he gets drunk again, he'll change into a werewolf.

Kagetora (Japanese); Kellen Goff (English) is Yaiba's friend tiger. He helps Yaiba with his training and lets Yaiba ride him when speed is needed. He is also shown a much higher intelligence than Yaiba when it comes to rock-scissors-paper. He was probably found on the same mountain where Yaiba and his father lived.

Shonosuke (Japanese); Steve Prince (English) is Yaiba's friend's vulture. He helps Yaiba with his training and lets Yaiba ride him when he needs to fly. Like Kagetora, he occasionally ups Yaiba. He was probably found on the same mountain Yaiba and his father lived.

Gerozaemon Geroda (Japanese); Kyle Hebert (English) is the frog demon Gerozaimon is the first of Onimaru's demons to attack Yaiba, and was beaten by him when Yaiba called for his snake friends. When the second demon came and informed him he was to be disposed due to his uselessness, Gerozaimon was befriended by Yaiba. He uses his axe in battle. He also shows how good his tongue is against a battle with the chameleon demon. In the anime, his speech pattern forces him to either begin or end any sentence with , which is Japanese for "Ribbit". In the manga, he is shown to be somewhat easily depressed, having fallen to a state of despair after Snakeman told him that Onimaru already gave up on him. As a result, Gerozaimon brutally beats up the Kuro Oni who came with Snakeman in blind despair.

Mr. Sea Cucumber (Japanese); Xanthe Huynh (English) , like Gerozaimon, he used to be one of Onimaru's demons. On his way to Izu he gets lost and is found by Yaiba's group. From then on he is always with them, usually seen on Sayaka's shoulder. He usually ends his sentences with .

Moroha Kurogane is Yaiba's little sister. Because she was raised to believe Kenjuro is her mother's enemy, she has been training in the way of the sword to defeat him. She joins Yaiba's group for the final arc and speaks very bluntly.

Nadeshiko Yamato

is a girl that Yaiba helped in the jungle when she was attacked by an animal. After that, she fell in love with him and made a promise to marry him. Yaiba accidentally agreed if she's stronger (Yaiba thought she is a daughter of a Soba's seller). After she got stronger, she came to the Mine dojo and asked for a fight, defeating Musashi and Kojiro. Jubei didn't want to fight her because he fell for her. She finally left to get even stronger. In the 2025 anime adaptation, she also serves as one of the main supporting characters of the series and joins Yaiba's group as well.

Onimaru Faction Takeshi Onimaru

is a skilled swordsman and rival of Yaiba, later aligning with him during the Kaguya conflict. After their initial duel ends inconclusively, Onimaru trains relentlessly, discovering a hidden chamber containing the Thunder God and Devil Wind swords. Wielding the latter, he transforms into the Devil Wind incarnate, gaining demonic horns. He later relinquishes the Devil Wind sword to Yaiba upon obtaining the Mao-Ken blade. Onimaru briefly seizes control of Japan by manipulating the Diet, which accounts for the lack of interference during his battles. His followers are horned, shadowy humanoids.

Mr. Spider (Japanese); Alenjendro Saab (English) is the third of Onimaru's Hakki, he become something of a sidekick to Onimaru, who often sends him to others whom he instructed Spiderman to revive to attack Yaiba and his friends. He is also arguably the most comedic Hakki shown in the series. He calculates the expenses of financing high technological projects, usually with an old-fashioned abacus. In the anime, he sometimes uses a calculator with several features. His one true flaw is the fact that he's easily intimidated by loud noises. For example: several fragile materials like beer bottles or plate breaking against the floor can render Spiderman in a state of trauma. That, along with the fact that he's very gullible with limited fighting skills make him a not-so-formidable enemy. After Onimaru becomes carbonated, he comes to live with Yaiba while loyally polishing his master. He speaks with a Kansai dialect.

Hakki Arc Onimaru's are 8 demon souls reborn into the bodies of dead animals. Gerozaimon, Namako-Otoko, and Kumo-Otoko are among their ranks. While each of them have their own unique fighting skill and abilities, all of them are also downright comedic – a continuous running gag in the series.

(Japanese); Michael Schwalbe (English) The second assassin sent after Yaiba. He fights with a hoko yari from a powerful snake god. Being a sentient reptile, he is also the fellow Hakki most feared by Gerozaimon, which is appropriate since snakes are the natural enemies of frogs. He is defeated by Yaiba's Senpūken technique.

(1993 series), Genta Nakamura (2025 series) (Japanese); Brent Mukai (English) A large male starfish from Kumamoto who thinks of himself as the leader of his group. He is married with a son and runs a dining hall. He speaks with a Kumamoto dialect. He encounters Yaiba's group again and helps them retrieve the Fire Orb from Mount Aso, nearly dying in the attempt.

(Japanese); Kellen Goff (English) Sent with Hitode-Otoko and Namako-Otoko to stop Yaiba. After their many failures, they each get homesick and return to their respective hometowns. He speaks with a Nagoya dialect.

(1993 series), Shinya Takahashi (2025 series) (Japanese); Derek Stephen Prince (English) His sticky body made him a tough opponent, but he is defeated when Yaiba throws a salt package over him and cuts it open with the Senpūken, causing him to shrivel up. He puts on a shell to become and challenges Yaiba to a rematch, but meets the same fate once again.

(1993 series), Kazuyuki Okitsu (2025 series) Kayleigh McKee (English) Often speaks in English and greatly admires Musashi. His weakness is sunlight. He is a master swordsman and the strongest of the Hakki but is also defeated by Yaiba's Senpūken technique. During Yaiba's attack on Onimaru Castle, he is revived by Kumo-Otoko, but Yaiba defeats him with a single lightning strike. In the anime he was renamed .

Onimaru's Shitennō Arc

(1993 series), Hiroya Egashira (2025 series) (Japanese); Patrick Seitz (English) A giant angler fish wearing a paper lantern on his lure, lives in an underground lake in Onimaru's Fortress. He tries to swallow Yaiba and his friends but is eventually tricked into smashing into a wall and is defeated by Yaiba's Kaminari Giri attack.

(1993 series), Shinya Hamazoe (2025 series) (Japanese); Derek Stephen Prince (English) A French-speaking chameleon who can change shape and color, lives in a forest inside Onimaru's Fortress. He kidnaps Kagetora, Shonosuke and Gerozaemon and turns into a copy of Yaiba to trick the group, but is eventually found out and defeated by the combined efforts of Kojiro and Yaiba.

(1993 series), Akihiro Tajima (2025 series) (Japanese); Kellen Goff (English)