I, Claudius

Marcus Vipsanius Agrippa

Loyal general and Augustus's right hand

Claudius

Protagonist/narrator - stammering scholar who survives imperial intrigue

Germanicus

Noble general beloved by the people, poisoned by rivals

Agrippina the Elder

Brave widow who challenges Tiberius, ultimately exiled

Antonia Minor

Stern mother ashamed of Claudius but ultimately loyal

Herod Agrippa I

Claudius's childhood friend who becomes King of Judea

Octavian (Augustus)

Benevolent but blind emperor, manipulated by Livia

Octavian (Augustus)

Livia Drusilla

Tiberius

Caligula

Mad emperor who declares himself a god

Caligula

Lucius Aelius Sejanus

Scheming Praetorian Prefect who manipulates Tiberius

Livilla

Sejanus's mistress who conspires to murder her husband

Messalina (Valeria Messalina)

Nymphomaniac empress who betrays Claudius