The medic aboard the Canterbury and later the Knight. Shed is nervous, compassionate, and out of his depth in the escalating conflict that follows the Canterbury's destruction.

A Belter crew member aboard the Canterbury, the ice hauler where the story begins.

Former Executive Office of the ice freighter Canterbury who becomes captain of the salvaged Martian gunship Rocinante after witnessing the destruction of his ship. A relentless idealist with a compulsion to broadcast the truth regardless of the political consequences, Holden repeatedly finds himself at the centre of events that define the course of human history.

Chief engineer and Executive Officer of the Rocinante. A Belter of exceptional intelligence and technical skill, the moral conscience of the crew, and one of the most capable engineers in the solar system. Quiet about her past and deliberate about her present, she holds the crew together in ways that have nothing to do with engineering.

Pilot of the Rocinante and former MCRN officer. A Martian with a warm, garrulous personality that masks genuine melancholy about his failed family life. One of the finest pilots in human space, with an instinctive feel for orbital mechanics and ship handling.

Mechanic and general muscle aboard the Rocinante. A man who grew up in the worst conditions Baltimore had to offer and emerged without the capacity for moral judgment most people take for granted - he outsources that function to people he trusts. Straightforwardly violent when necessary, and deeply loyal to those he considers his people.