Link is a knight in training in the floating land of Skyloft. His whole life was spent above the clouds until his love interest, Zelda, was taken away by the Demon Lord Ghirahim, prompting a quest that would take Link under the clouds and eventually saved her. Now they're both just back on Skyloft and still in the academy. He is deeply caring, expressive, and somewhat goofy young man rather than a stoic warrior. He shows clear, human emotions through rich facial expressions and body language from his relaxed life in Skyloft to his intense drive to save Zelda.

She is chronologically the earliest known incarnation of the princess of Hyrule and the true ancestor of Hyrule's royal family. She is also the daughter of Gaepora, the headmaster of the Knight Academy, and a childhood friend of Link and Groose. Zelda is a warm, playful, and grounded childhood friend rather than a distant royal figure. She is cheerful and energetic, yet she possesses a strong sense of duty and inner grit. She shares a close, relaxed bond with Link, often teasing him, calling him out for being lazy, or playfully shoving him off ledges. She stands up to bullies like Groose to protect Link, showing she is not afraid to speak her mind. She handcrafts the Sailcloth for Link and shows genuine excitement and affection during their time together in Skyloft.

The goddess Hylia created Fi, an intelligent humanoid spirit who resides in the Master Sword, and gave them the purpose of assisting Hylia's Chosen Hero in fulfilling his destiny of defeating Demise. She then enshrined the Sword inside the Statue of the Goddess before raising it into The Sky as part of Skyloft. Preceding the Wing Ceremony, Fi appears to Link in his dreams, foretelling his destiny. She's usually stoic and doesn't convey much emotions. She's a blue spirit who's outfit matches with the style of the Master Sword. She thinks only in data, percentages, and cold facts, showing no human feelings. She states things as they are, often telling Link the exact odds of success or failure. She struggles to understand human habits, emotions, and social rules.

Groose is a bully in short words with his lackeys Cawlin amd Strich. He is a student at the Knight Academy in Skyloft and a personal rival to Link. He commands a black Loftwing. He also has a crush on Zelda and is jealous of the closeness between her and Link. He is intensely proud of his looks and his signature red pompadour. He bullies Link out of intense jealousy because Zelda is close friends with Link and not him. He tries to cheat and sabotage Link during the school's Wing Ceremony (like hiding Link’s bird). He's usually humbled by reality.

Cawlin is a student at the Knight Academy. He is a friend and henchman to Link's personal rival, Groose. He, Groose, and Strich all have a reputation for being bullies. Cawlin is self-centered, ambitious, and conniving. He acts as a sycophantic lackey to Groose out of pure self-interest, lacks proper manners, and shifts into despair or being haunted depending on his rejected love life.

Strich is one of the students of the Knight Academy in Skyloft. Alongside his friends Groose and Cawlin, they have a reputation for being bullies. He relies on his tall height and group association with Groose and Cawlin to act tough, though it is mostly a front. He is deeply passionate about insects, often talking at great length about them and dreaming of building an insect paradise. Away from Groose's immediate influence, Strich is surprisingly mild-mannered and kind to Link, showing he is not truly malicious.

He is a figure of authority in the land below Skyloft, and he thinks quite highly of himself, preferring to be called Lord Ghirahim. He tries to revive Demise. He is Demise's sword or well the spirit in them. Ghirahim is flamboyant, arrogant, and sadistic. He presents himself as a theatrical and elegant lord, but hides a violent and unhinged temper beneath his charm.

He is the father of Zelda, and the headmaster of the Knight Academy. He is knowledgeable of the history and legends of Skyloft, and proves to be of invaluable help to Link during his quest to save Zelda. Gaepora is a wise, kind-hearted, and gentle leader who balances a dignified demeanor with a warm, fatherly affection.

Eons before the events of Skyward Sword, he and his army of demons broke through a fissure in the earth and sought out the Triforce. After a long war, he was eventually sealed away by the Goddess Hylia. He is the Master of Ghirahim.

Impa is a member of the Sheikah tribe, and a loyal protector of Princess Zelda, often serving as a guide, bodyguard, and advisor to Link. She consistently provides crucial support embodying the Sheikah's duty to serve the royal family. Impa is a stern, fiercely loyal, and unyielding protector who balances a sharp, critical exterior with a deep, selfless dedication to her sacred duty. Her entire mindset is locked on serving and guarding the princess, leaving no room for hesitation or distractions.