The Adventures of Puss in Boots

• Puss in Boots (voiced by Eric Bauza) – The titular character, a slightly egotistical adventurer who accidentally breaks the barrier around San Lorenzo and decides to stay until the barrier is restored.[3]
• Dulcinea (voiced by Jayma Mays) – A female cat who is Puss's love interest.[3] Mays describes her as sweet and naive,[13] very innocent and sheltered.[14][15]
• Artephius/The Great Mage Sino (voiced by Paul Rugg)[16][17] – An elderly alchemist who acts as a mad scientist and later reveal to be Sino's personality in season 6.[15]
• Señora Zapata (voiced by Carla Jimenez)[16][17] – The Old Woman Who Lived in A Shoe, and the head of the town's orphanage. She is antagonistic towards Puss.[15]
• Mayor Temoroso (voiced by Carlos Alazraqui) – A big guy who likes to keep a low profile by hiding inside barrels. He is also San Lorenzo's mayor.[15]
• Pajuna (voiced by Laraine Newman)[17] – Pajuna is a Highland cow who is the owner of the local cantina.[15]
• Vina (voiced by Grey Griffin)[16] – An older orphan who makes up facts and sometimes steps into Puss's personal space.[15]
• Toby (voiced by Joshua Rush)[3] – An orphan. He is a pig who idolizes Puss.[15]
• Kid Pickles (voiced by Candi Milo)[16] – A "Runyon-esque" 11-year-old who likes pickles.[15]
• Esme (voiced by Ariebella Makana)[16] – A 5-year-old girl who is described as adorable.[15]
• Li'l Pequeña (voiced by Grey Griffin) – A new girl who is introduced in the fifth season and can sometimes act evil.
• Cleevil/Green Tulpa (voiced by Candi Milo)[16] – A street-smart goblin in her early teens and a Tulpa in season 6.[15]
• Sphinx (voiced by Grey Griffin) – A hairless, winged cat who acts a little like a valley girl and a hipster. She (sometimes) protects the village of San Lorenzo.[15]

• El Moco (voiced by Danny Trejo)[18][17] – A bandit king who is often foiled in the episodes.[15]
• The Duchess/Maldonna Eldritch (voiced by Maria Bamford)[18] – One of the recurring villains in the series. She steals the souls of magicians and sorcerers to use their powers- denying observations that she has no magic of her own- and was involved with Artephius; she also had a previous fight with Puss, in which the latter had cut off her foot. In the fourth episode of season 3, she joins Puss in order to stop the Bloodwolf.[15]
• Jack Sprat (voiced by John Leguizamo)[18][17] – One of Puss's oldest friends who often gets Puss in trouble with his schemes.[15]
• Uli (voiced by Alan Tudyk) – A clever and manipulative (and somewhat annoying) satyr who initially appears friendly to Puss and his friends, but in reality plots to take over San Lorenzo with the help of the demonic Blood Wolf.
• Goodsword (voiced by John Rhys-Davies for season 1 and voiced by Jeff Bennett thereafter) – An enchanted sword who falls from the sky stuck into a stone, then chooses Dulcinea to be the town's hero.[18][15]
• El Guante Blanco (voiced by Jim Cummings) – A black cat with a white front right paw. El Guante Blanco (The White Glove in English) found Puss in the desert after Puss was forced to leave his home town and taught Puss the ways of the sword. El Guante Blanco also wears a hat, belt and sword, but does not wear boots.

Bandits: A large group of thieves who try to steal from San Lorenzo, but the town's protector, Puss In Boots always stops them. Some of them also work for El Moco and they ruled over San Lorenzo once but Puss stops them once again.

In 2015, the second episode of the series, "Sphinx", was nominated at the Annecy International Animated Film Festival.[23] In 2016, the series won an Emmy Award for Outstanding Casting for an Animated Series or Special.[24]