Naoya Tohara (塔原 直哉 touhara naoya), normally referred only as Naoya (ナオヤ), is the main male character of the series. A normal human or Maður as they are called in the Álfheimr, he is the father of Asuha and is the first and only member of Rotte's harem (or Rotte's toy from her perspective). He comes from Miðgarðr (the human world). A fateful encounter with Mercelída when he was 12 years old led to Asuha's conception and his eventual encounter with Rotte.
Astarotte Ygvar (アスタロッテ・ユグヴァール), more commonly known by her nickname Rotte (ロッテ) (commonly mistranslated as Lotte), is one of the main protagonist of the series. The title of the series, either the manga (Rotte no Omocha) or the anime (Astarotte no Omocha!) is named after her.
Rotte is a succubus and the daughter of Queen Mercelída. Naoya becomes Rotte's toy after she is forced by Judit to take a man for her harem since, like all succubus, she will eventually need to consume Sauzfryma, better known as sperm, in order to maintain her health as she matures. By coincidence, Naoya turns out to also be the father of her half-sister and friend Asuha, which she does not learn until further in the story.
Mercelída Ygvar (メルチェリーダ・ユグヴァール), affectionaly called Mer (Mer-san, メルさん) or Merce (Merce-san, メルチェさん) in the anime and Merci in scanlations, is the ruling queen of Ygvar. Her royal name is Mercelída Ygvar I.
Mercelída is the mother of both Rotte and Asuha. When she was 18 years old, after her sisters killed each other for the throne, she ran away from her home and fell into the world tree, where she met Naoya. She conceived Asuha accidentally: she was stranded on Miðgarðr and had to use her Succubus abilities with Naoya despite him being only 12 years old. Even with this brief encounter, she became somehow enamored of Naoya, but tries to keep her distance to allow her daughter's relationship with Naoya to flourish.
Asuha Tohara (塔原 明日葉, touhara asuha), originally named Asuhariet Ygvar (アスハリート・ユグヴァール) by her mother, and more commonly referred as Asuha (アスハ), is one of the main female protagonists of the series. Asuha is the daughter of Naoya and Mercelída and the true first princess of Ygvarland. She is Rotte's older half-sister.
While originally a normal human child, it is later revealed in advanced chapters of the manga that she is in fact half human / succubus after visiting the Dvergur Miraculous Spring that stimulated the growth of her succubus traits. Since her father is of incubus descent, it is possible that she might be a "purer" succubus than both her mother and sister since she is the daughter of an incubus, the original male counterpart of the succubus, which gives her the abilities of the succubi without their weakness.
Judit Snorrevík (ユーディット・スノーレヴィク) is the caretaker of Rotte and the Mercelida's best friend.
After Rotte became unable to stand men, Mercelida puts Judit in charge of Rotte. She is responsible fro finding and bringing Naoya.
Olav Friðmar (オラフ・フリズマール), mostly referred by his first name Olav, is an old Álfur who acts as the main Majordomo of Rotte's manor. Due to his advanced age and fragile back, he now handles less duties and is almost retired, with most activities left to Effie and Cú. Prior to Naoya's arrival, Olav was the only male that Rotte could bear.
Elfleda Mirjasdottír (エルフレダ・ミルヤスドッティル), better known by her nickname Effie (エフィ), is the head maid of Rotte's manor and her personal wet nurse since Rotte was a baby. Her original nickname is Elfie (エルフィ), but it eventually becomes Effie in Rotte's house because a younger Rotte was unable to pronounce her name and would call her "Effie".
Effie is a Kýlbringa, a female only race that produces Guð Mjólk (グズミョルク, God Milk), a type of milk with medicinal properties that can be consumed by all races.
Ingrid Sorveig Sorgríms (イングリッド・ソルヴェイク・ソルグリムス), better known by the nickname Ini (イニ) bestowed to her by Asuha, is the Great Sage of Álfheimr. Despite being the greatest living scholar in the kingdom, she is barely 7 years old. She acquired all her knowledge from her father, the original Great Sage Sorveig, who, sensing his impeding death, transferred all his knowledge to her with a special procedure.
Sigurð Sveinnsson Svarthæð (シグルド・スヴェインソン・スヴァルトヘイズ), mostly referred by his first name Sigurð or the alternative spelling Sigurd, is a Nótt Álfur and a prince of the country of Svarthæð. He is one of the main support characters through the series, mainly in the manga.
A hot-headed guy who likes women a lot, Sigurð for some reason falls in true love with Rotte despite her not being the type of woman that he normally looks for. For this reason, he considers Naoya his rival. His sister Helga and his assigned guard Dóra have to keep watching over him at all times to try to control the impulsive prince. While his father, King Sveinn worries about him, he actually trusts in Sigurð more than his other son and Sigurð's older brother Rúrik despite the later being older and more mature.
Úrsúla Sumarliði (ウルスラ・シュマルリージ), mostly referred by her first name Úrsúla only, is the personal bodyguard and favorite lover of Mercelída. Like her cousin Eldór, she is a Varhund. She also is a futanari
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