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The characters of the Inuyasha manga series were created by Rumiko Takahashi. Most of the series takes place in a fictional version of Japan's Warring States period with occasional time travel/flashback elements to modern Tokyo or the Heisei period. The setting and plot incorporate many elements of traditional Japanese folklore and religion. Its main characters (both protagonists and antagonists) include a Shintō priestess, a Buddhist monk and several types of yōkai, usually rendered as "demon" in English language translations of the series. The anime adaptation of Inuyasha is followed by a sequel titled Yashahime, where its characters are also listed here.

Inuyasha (犬夜叉) was born of a dog demon father and a human mother. He is an arrogant, prideful and stubborn half demon, but has a soft side to him. He also has an older half brother, Sesshomaru, who is a full demon with a full demon mother. He has the appearance of a fifteen year old boy. As a half demon, he had a difficult and lonely childhood, as demons and humans despised him for his mixed bloodline.

Kagome Higurashi (日暮 かごめ) is a brave and kind girl, the reincarnation of the Sengoku period priestess Kikyo, who believes in never turning her back on someone in trouble. Although physically weak, she is not lacking in courage. She becomes highly skilled in archery as the series progresses, and eventually learns to master her immensely strong spiritual powers. Of all characters in the series, she has the most emotional strength, never allowing anger or jealousy to commit acts of evil. By the start of Yashahime she is spiritually as strong as Kikyo, and possibly stronger given that she developed her own powers of arrow disappearance. Despite her inexperience, Naraku greatly fears Kagome's purifying powers, causing him to target her even more often than Inuyasha.

Miroku (弥勒) is an eighteen year old lecherous and intelligent Buddhist monk who travels the countryside performing spiritual services, such as exorcisms and demon exterminations, though he has a habit of either ripping off or outright robbing wealthy clients. Miroku can attack enemies with his khakkhara and sutra scrolls. But Miroku's greatest weapon is the Wind Tunnel (風穴), a blackhole embedded in his right palm which is actually a hereditary curse originally inflicted upon his paternal grandfather by Naraku. Due to the curse's nature to eventually kill him, Miroku sought to find himself a wife to sire children before eventually falling in love with Sango. In the sequel series, after starting a family with Sango after his curse was lifted, Miroku left his family to train himself to fight demons without his Wind Tunnel.

Sango (珊瑚) is a sixteen year old demon slayer (妖怪退治屋). She hails from a village that practices the act as their profession and is also the original home of the Shikon Jewel; she is described by her father as the most skilled exterminator in the village. While travelling, she wears a traditional woman's kimono, over which she wears long skirt, most likely "mo bakama", and traditional woman's arm guards and leg guards, and straw sandals. As a demon slayer, Sango dresses in a black skin tight jumpsuit, and pink armor plates made of demon parts, and a red sash. Of her broad repertoire of tools and tricks for fighting demons, Sango usually wields her most powerful weapon called the Hiraikotsu (飛来骨), a human sized boomerang made of purified demon bones, which she can throw using her enhanced strength.

Shippo (七宝) is a young orphaned kitsune, who attempts to steal the Shikon Jewel from Inuyasha and Kagome, wanting to become stronger and avenge his father's death. Though his plan fails, Inuyasha and Kagome aid him after hearing his story, and he becomes their companion. Deeply loyal to Kagome, he often calls Inuyasha out on his bad behavior toward her. He is frequently clobbered by Inuyasha for playing tricks on him, and for blurting out uncomfortable or embarrassing facts. Despite this, he views the entire group as his surrogate family.

Kirara (雲母) is Sango's faithful companion who usually appears to be a small kitten sized feline with two tails, but can become large enough to carry several passengers across the air whenever the need arises. She is a spiritual entity and traveled with Midoriko in the past. In the sequel series, Kirara becomes Hisui's companion while occasionally aiding Setsuna.

Towa Higurashi (日暮 とわ) is fourteen years old. She is Sesshōmaru and Rin's eldest daughter and Setsuna's twin sister making her a half demon. When she was four years old, she was transported to the modern era through the power of the Sacred Tree of Ages. She was raised by Sōta Higurashi, her half uncle in law. Ten years later, she is reunited with Setsuna. Towa wields the sword Kikujūmonji (掬十文字) and carries the Silver Rainbow Pearl inside her left eye. When her sword is broken, she is capable of unleashing her demonic power to form her demonic energy into the remaining blade. Later she learns to absorb the demonic energy of enemies to empower herself and becomes capable of unleashing her father's Sōryūha (蒼龍破) personal attack. Afterwards, it was upgraded into her own variation of her Sōtō no Sōryūha (双頭の蒼龍破) attack. While they joined forces with Osamu Kirin to stop the Grim Comet, Towa used the Zanseiken's (斬星剣) Kyūyōkon (吸妖魂) to absorb the comet's demon energy to make her new technique for the Azure Dragon Wave: the Ryusei no Sōryūha (流星の蒼龍破).

Myoga (冥加) is a flea demon in service to Toga who was assigned to guard Tetsusaiga's resting place before it was acquired by Inuyasha, accompanying him and later Moroha while providing them intel on topics that include current events and foes. He tends to run and hide during fights despite being a loyal retainer, his presence being a tell sign of no present danger. Myoga enjoys drinking demon blood, and actually saves Inuyasha's life at one point by drinking a spider demon's venom out of his blood.

Totosai (刀々斎) is an elderly yōkai blacksmith with large, bulging eyes and the creator of Tessaiga and Tenseiga, from the fangs of his old friend, the Great Dog General, who entrusted him to help his two sons. As Inuyasha grows stronger and Sesshomaru grows more compassionate, they become more capable of mastering their respective swords, which Totosai strengthens accordingly. He spends most of his time at his forge inside a volcano, but sometimes travels elsewhere on a flying three eyed ox named Mo Mo (猛々).

Naraku (奈落) is the half demon responsible for the misery of most of the main cast. He was born fifty years ago from the desires of a gravely burned bandit named Onigumo (鬼蜘蛛), who was found, sheltered and fed by Kikyo. Paralyzed by his injuries, Onigumo met a Small Spider Demon and forms a pact with the Small Spider Demon's friends. The surrounding demons attracted to his darkness consume him in return for his soul to occupy a new body created from their merged bodies so that he could satisfy his frustrated lust for Kikyo. But Naraku instead orchestrated Kikyo's death and Inuyasha's imprisonment, biding his time until the Shikon Jewel resurfaced in the Feudal Era. Assuming the appearance of a feudal lord, Naraku spends most of the series modifying his body while attempting to remove what little humanity he had left. In the end, he is destroyed by Inuyasha's Meidō Zangetsuha in the manga, while purified by Kagome's wish in the anime version.

is the yōkai dragon created from numerous demons from ancient time that battled the priestess Midoriko before forcing the priestess to trap their souls in what became the Shikon Jewel. In the end, he is destroyed by Inuyasha's Meidō Zangetsuha in the manga, while purified by Kagome's wish in the anime version.

Magatsuhi (曲霊) is the evil corrupting presence within the Shikon Jewel, born from the spirit of the dragon demon, then his offshot. His existence is eventually made known to Inuyasha's group when Naraku gave him a temporary human like body to act through to assist in the restoration of the Shikon Jewel with the personal goal to completely defile it. As it would later be revealed, Magatsuhi is responsible for sealing Kagome's full spiritual power out of fear of the girl being a threat to him. After losing his temporary body due to Bakusaiga, Magatsuhi resorts to bodily possessions before being stopped by Inuyasha with Dragon Scaled Tetsusaiga with the power of the demon vortex and killed by Sesshomaru with Tenseiga during the final battle against Naraku.

After acquiring enough Shikon Jewel shards, Naraku gained the ability to create new demons from his being that are technically his "offspring". However, each is treated by Naraku as expendable minions; tools to use as he wishes. He manipulated some of his earliest creations through threatening to destroy their disembodied hearts should they betray him. Eight detachments were directly created by Naraku within the series' storyline.

Kanna (神無) is Naraku's first detachment, appearing in the form of a ten year old girl in white with a mirror. Kanna is the only person that Naraku trusts with important information about his actions, allowing her to dictate in his stead. As a "concealed incarnation" of Naraku, Kanna has no scent or demonic aura, which makes her undetectable to Inuyasha, Miroku and Kagome, and immune to demonic aura related effects such as the Hakurei barrier. She also is nice to Kagura and informative of Naraku's warnings. She is immune to the Infant's ability to read hearts to know what someone is truly thinking, but possesses thoughts and feelings of her own.

Kagura (神楽) is Naraku's second detachment, although she is introduced before her "elder sister" Kanna. As a wind witch who is always barefoot, Kagura uses a fan to enhance her powers where she can create a blade like tornado or use wind to animate dead bodies. She can also use her feather hair ornaments as transportation, enlarging them to ride in the wind. Kagura has a particularly strong feud with Koga as she slaughtered his tribe on Naraku's orders, and she later attempted to kill him and steal his Shikon shards (though for her own gain, not Naraku's). Kagura desires her freedom from Naraku, indirectly supporting Inuyasha's group despite being their enemy and developing feelings for Sesshomaru. Kagura is later fatally wounded by Naraku when he poisoned her while restoring her heart, spending her final moments with Sesshomaru.

Goshinki (悟心鬼) is Naraku's third detachment, a large horned oni with bladed elbows and powerful fangs. He is agile for his size; however, his most dangerous ability is reading minds, which he uses to avoid dangerous situations and exploit his enemies' weaknesses. When Goshinki breaks Tetsusaiga, he provides Inuyasha's demon lineage the opportunity to take over. Goshinki struggles to read the now feral and blood lustful Inuyasha before he is completely ripped apart with only his head remaining. Goshinki's head is then found by Sesshomaru, who momentary revives the demon so his fangs can be used by Totosai's expelled apprentice, Kaijinbo (灰刃坊), to create the cursed blade Tokijin (闘鬼神).

While technically Naraku's sixth incarnation, Muso (無双) is actually Onigumo himself. Originally faceless and without memory of his past, Onigumo took the face and name of a wandering monk. Eventually with Kagura watching on Naraku's order, Muso ventures to Kikyo's former village and regains his memories of Onigumo and desires for Kikyo. He sees Kagome with Inuyasha and, assuming she is Kikyo, fights him in order to possess Kagome. But Naraku absorbs Muso to restabilize his body.

While indirectly Naraku's eighth detachment referring to himself as the embodiment of his "essence", possessing his sadism and love for chaos, Hakudoshi (白童子) is actually created from the right half of the Infant when he was severed in half by the power of a dying monk and matured into a barefoot boy who is dexterous and proficient with a halberd and other handheld weapons. As they were originally one, Hakudoshi possesses many of the Infant's abilities while unable to be killed directly as he does not possess Naraku's heart. Hakudoshi also acquired the demon horse Entei (炎蹄) before the steed was killed by Inuyasha. Hakudoshi is destroyed when Naraku calls back his wasps so Miroku can use his Wind Tunnel on him.

Byakuya (白夜) also known by his alias Byakuya of the Illusions (夢幻の白夜) is Naraku's final detachment created for the sole purpose of acting during Naraku's final moments, a moth Demon who uses illusions and origami magic while able to detach his left eye to serve as recon. As Byakuya was designed to only exist as long as Naraku lives, his body can be severely damaged when Naraku suffers mortal injuries. Originally, his purpose is to observe Inuyasha and Moryomaru's growing powers and report back to Naraku, gradually becoming more active in his creator's plans. During Inuyasha's final battle with Naraku, Byakuya uses his bladeless sword to absorb a stray Meido Zangetsuha, then carry out his final task: slashing Kagome with a time delayed Meido that would activate upon Naraku's death. Though killed by Inuyasha's Meido seconds later, Byakuya accepts his fate as he achieved his purpose.

The Band of Seven (七人隊) were group of human mercenaries that were killed a long time ago. They are resurrected in an undead state and manipulated by Naraku through Shikon Jewel shards to hold off his enemies during his time at Mount Hakurei.

Kyokotsu (凶骨) is a giant who happens to be both the largest of the Band of Seven and the weakest. Though a giant, Kyokotsu has developed a taste for demons. Kyokotsu terrorizes the wolf demon tribes before being defeated by Koga in battle, who pulls out his Shikon shard and returns him to the dead.

Jakotsu (蛇骨) is the Band of Seven's third in command and Bankotsu's most trusted ally. A homosexual and homicidal woman hater who wears women's kimono and sadistically kills his male opponents as a sign of affection. Jakotsu is armed with a snake like sword which has segmented retractable blades that reach a great distance and bend at a moment's notice, making it difficult for an opponent to calculate his next move. When Inuyasha and his group arrive at Mount Hakurei, Jakotsu battles Inuyasha until he is defeated. The fight leaves Jakotsu severely weakened and Renkotsu uses the opportunity to steal his Shikon shard.

Mukotsu (霧骨) is a short man who acts as the Band of Seven's poison maker, concealing his face behind a veil. He abducts Kagome out of lust, attempting to rape her (the anime depicts him initiating a wedding ceremony before Miroku and Sango come to their friend's aid). Though he succeeds in poisoning the human heroes, Mukotsu is killed by Sesshomaru.

Renkotsu (煉骨) is the second in command of the Band of Seven that often uses wires and fire breathing skills and later a hand cannon. Renkotsu is the band's most intelligent member and secretly acts against Bankotsu by stealing their comrades' Shikon shards for his use. When Bankotsu learns of this, he kills Renkotsu.

Ginkotsu (銀骨) is a cyborg like member of the Band of Seven, with a slew of different weapons, such as saw blades and a firearm on his back. Renkotsu maintains Ginkotsu's mechanical body, before it is destroyed by Inuyasha. Renkotsu then rebuilds Ginkotsu into a tank like body. Eventually, Koga causes Ginkotsu to self destruct by clogging his cannon with a piece of Renkotsu's armor. Ginkotsu's jewel shard is subsequently used by Renkotsu to heal his wounds.

Suikotsu (睡骨) was originally a physician who developed a bloodthirsty second persona and is armed with artificial iron claws. After being revived, Suikotsu's good side attempts to live a normal life before his alter ego assumes control at the coaxing of his comrades. At one point, Suikotsu returns to the village with his normal "good" appearance, but is still violent and willing to kill. His good persona ultimately asks Kikyo to take his Shikon shard and kill him to prevent further carnage, but he is killed by Jakotsu before she can do so.

Bankotsu (蛮骨) is the leader of the Band of Seven, and its youngest and strongest member. Though a skilled mercenary who killed many people, Bankotsu retains a sense of honor and compassion where his comrades are concerned. Bankotsu carries the Zanbatō like halberd Banryu (蛮竜), a weapon he reclaims by attacking the daimyō who executed the band. Defeated by Inuyasha by slicing him in half based on the manga series, and when Banryu's power was reflected by Inuyasha's Bakuryūha attack.

Hachiemon (八衛門), otherwise known as simply Hachi (ハチ), is a [[Japanese raccoon dog from Awa who is a retainer to the tanuki of the Mamidaira clan before becoming Miroku's servant. His basic abilities are low and he has no weapons or skills for battle. He is an unremarkable being, but he understands Miroku well. Although Hachi is Miroku's servant, he often does not travel with him. Since he is a tanuki, he has the ability to transform. If he puts a leaf on his head and transforms, he can assume the form of a giant yellow gourd. He can fly in this state. When he runs away, he can lay down a smoke screen to deceive enemies.

Jinenji (地念児) is a half demon who lives in a hut with his human mother. Together, they grow a variety of medicinal plants, including some known for being powerful against poisons. He is first seen when Kirara is poisoned by Naraku's miasma and Inuyasha and Kagome travel to the village to find a cure. Because of his demon blood, the villagers falsely suspect him of killing people, but Jinenji is a gentle giant who is scared of humans because of the way they treat him.

Shiori (紫織) is a half demon who was born from a human mother named Shizu (紫津) and a bat demon father named Tsukuyomaru (月夜丸), who had died when she was an infant; murdered by his own father in cold blood. She helped grant Inuyasha's Tetsusaiga the useful ability to break through demon barriers, and even Naraku's for a time, after he saves her from her grandfather's grip. In the sequel series, after her mother passed away, Shiori established a haven for half demon children to live in peace with Setsuna one of her students.

Goryomaru (御霊丸) was a monk who lived in an old temple with a group of orphaned kids. The children, whose parents were killed by demons, were rescued by him and were taken care of. Goryomaru was attacked by a demon which tried to "absorb" him. While trying to overpower the demon, his arm got replaced by the demon's laser shooting cannon like arm. The demon attached to his arm is later revealed to be Moryomaru, who is able to consume the rest of Goryomaru's body following his death at the hands of Hakudoshi.

Toga (闘牙), also known as the Dog General (犬の大将) or Great Dog Demon (犬の大妖怪), was an infamous yōkai lord of great power who ruled the Western Lands, having battled Kirinmaru during the Heian Era before they established a truce, as they joined forces to stop the Grim Comet. He fathered Sesshomaru with a dog demoness before he fell in love with Izayoi during the Kamakura era. Tōga was fatally wounded sealing Ryūkotsusei after being unable to defeat the dragon, meeting his end when he sacrificed himself to cover Izayoi's escape with their newborn son Inuyasha when her estate is burned to the ground.

Izayoi (十六夜) was a gentle human, who is the daughter of an impoverished noble house during the Kamakura Era. She fell in love with Toga and bore him Inuyasha, forced to leave her ancestral home when her former suitor Takemaru burned it to the ground in an attempt to kill her and Toga. She died sometime during Inuyasha's childhood, leaving her son Toga's Robe of the Fire Rat and a shell containing Izayoi's favorite rouge, which he gave to Kikyo as a gift via flashbacks in the anime before ending up with Kaede and later Moroha.

Hosenki I (宝仙鬼一世) is an oyster demon who cultivates a variety of magical jewels. He created the black pearl in Inuyasha's right eye that enabled Sesshomaru to travel to his father's grave and try to steal Tetsusaiga, the sword his father willed to Inuyasha. Needing to return to the netherworld later in the series, Inuyasha's group seeks out Hosenki, but learn that he has died and his namesake son cannot make the gems yet. He tells Inuyasha that he must wait a hundred years before he can make the gems. They find another path to the netherworld where they find the departed Hosenki sitting among the bones of the Dog General's body. However, he has been corrupted by a tainted shard of the Shikon Jewel and attacks Inuyasha. After Naraku reclaims his shard, Hosenki returns to normal and gives Inuyasha the use of Adamant (金剛槍破), an attack gained by Inuyasha's loyalty to his friends and lack of greed.

Hosenki II (宝仙鬼二世) is an oyster demon who took over his father's duty of creating black pearls, as well as his father's name, after the latter's death. Hosenki II visit Riku to gave him the green Rainbow Pearl, later visit Kagome and Inuyasha at their house in Kaede's village as he heard that Inuyasha inherited his father's powers with the Tetsusaiga: the Adamant Barrage.

Midoriko (翠子) was a powerful priestess who lived centuries before the events of the series. She was well known for her vastly strong spiritual abilities, more specifically her ability to purify demon souls and spirits, rendering them completely powerless. It was because of this ability that she was both hated and feared by demons. In her final battle, she was ambushed by many yōkai. In the end, her spirit is dissolved by Naraku's wish in order to prepare for the new place for Kagome in the manga, while purified by Kagome's wish in the anime version.

Naohi (直霊) is the good will of the Jewel of the Four Souls, that the four souls described are referenced as the four Mitamas from the Shintō philosophy of Naohi: Aramitama (荒魂), Nigimitama (和魂), Kushimitama (奇魂) and Sakimitama (幸魂).

Ginta (銀太) is a wolf demon from the Eastern Wolf Demon Tribe that always follows Koga around, alongside Hakkaku. They both deeply worry about Koga and Kagome since she is almost always in trouble with Inuyasha around.

Hakkaku (白角) is a wolf demon from the Eastern Wolf Demon Tribe that always follows Koga around, alongside Ginta. They both deeply worry about Koga and Kagome since she is almost always in trouble with Inuyasha around.

Ayame (菖蒲) is a red haired wolf demon that appears only in the anime. She is the granddaughter of the Northern Wolf Demon Tribe's leader. Koga once saved her from the Birds of Paradise and promised to marry her when she got older. In the epilogue of the anime, Ayame finally married Koga.

Mushin (夢心) is an elderly Buddhist monk who raised Miroku after his father was consumed by the Wind Tunnel curse. Despite being a lazy drunk who taught Miroku many of his bad lecherous habits, he cares for the young monk and is a father figure to him. In his first appearance, he was possessed by a demon worm charmer hired by Naraku to kill Miroku, but was saved by Inuyasha. Mushin is not seen in the manga again after this, but is given a slightly larger role in the anime.

Mrs. Higurashi is the mother of Kagome and Sota. She is never given a name. The novel Shousetsu Inuyasha reveals that her husband, Kagome's father, was killed in a car accident when Kagome was five years old. Since then, she was widowed and left to take care of her two children, with the help of her father in law. She is very supportive of Kagome and welcoming to Inuyasha. She helps Kagome by taking care of the lunches and dinners for her to bring to Inuyasha's world for them to share with her friends. She does not appear to mind Kagome spending long periods of time in the feudal era. Sota Higurashi (日暮 草太) is Kagome's younger brother, with whom she has a typical brother sister relationship. He sees Inuyasha as an older brother figure. In Yashahime, he adopted Inuyasha and Kagome's niece Towa as his daughter. He has an optimistic wife named Moe and young daughter named Mei. Grandpa (じいちゃん) is the paternal grandfather of Kagome and Sota, and Kagome's mother's father in law. Grandpa often covers for Kagome's prolonged absences at school with interesting, and often absurd, excuses, which only worries Kagome's friends further. Buyo (ブヨ) is the Higurashis' cat, who was the reason Kagome first found the Bone Eater's Well while she was looking for him. Inuyasha often plays with Buyo when he visits Kagome in her time.

Hojo (北条) is a school friend of Kagome's with an unreciprocated crush on her. Kagome's girlfriends think that they should be together, but Kagome never took the dates he asked her on seriously, despite having agreed and every single time would either forget or bail out on the dates so that she could go back to the feudal era to be with Inuyasha. Hojo is always under the pretense that Kagome has a fatal illness, due to the excuses Kagome's grandfather tells in order to keep Kagome out of school for long periods of time. Because of this, Hojo is frequently seen giving Kagome traditional remedies and supplies for her various fictional illnesses. Sometimes, her grandfather uses the gifts from Hojo on himself. In the climax of Inuyasha: The Final Act, Hojo is seen dating his college classmate. Ayumi (あゆみ) is one of Kagome's friends and classmates. She has wavy shoulder length black hair. Being the naive, optimistic, gentle one of the trio, she is the only one of the group to support Kagome's relationship with Inuyasha. In the anime version of Inuyasha: The Final Act, as she graduated from high school, she wanted to become an interpreter, and in the manga version, she wanted to become an translator. Eri (絵理) is one of Kagome's friends and classmates. She has straight shoulder length black hair and is frequently shown wearing a yellow headband. Like Yuka, she is very outspoken and concerned with Kagome's relationship health, and because of this, she never hesitates to give her opinion on Kagome's potential boyfriends (Hojo and Inuyasha). Yuka (由加) is one of Kagome's friends and classmates. Yuka has neck length brown hair. Being the most outspoken of the trio, as well as being very sharp witted, she often expresses concern over Kagome's relationship with her "delinquent boyfriend", Inuyasha.

Kin'u (金鳥) and Gyokuto (玉兎) are the identical twin daughters of Miroku and Sango and the older sisters of Hisui. Their first appearance was at the end of the Inuyasha when they were about two years old. Kin'u wears a Green kimono whereas Gyokuto wears a Pink kimono. In Princess Half Demon, Gyokuto is with her mother in the demon slayer village. Kin'u is a nun who is undergoing upper level training to further develop and increase her innate Buddhist spiritual abilities by her monk father.

Takechiyo (竹千代) is a young tanuki who serves under Jyūbei, later revealed to young lord of the Mamidaira clan who was placed in Jyūbei's care by Miroku at the behest of Hachimon. He uses his abilities to shape shift as means for transport others to places sufficient enough for profit, or when bribed with Towa's modern sweets.

Riku (理玖) is Jyūbei and Takechiyo's mysterious employer who intends to obtain all seven of the Rainbow Pearls for himself. He later develops feelings for Towa and tries to protect her and her family from harm. It is later revealed that he is in fact a living doll created from Kirinmaru's severed horn, and is in the service of Zero with the goal of returning her emotions by collecting the seven Rainbow Pearls for their creator who had taken care of him since he was "discarded like a piece of trash." He becomes Towa's love interest.

Jyūbei (獣兵衛) is the owner of the corpse dealing shop that specializes in bounties placed on demons. Moroha currently lives under Jyūbei's shop in order to pay off a very large debt.

Mei Higurashi (日暮 芽衣) is the six year old daughter of Sota and Moe Higurashi, younger adoptive sister and half cousin in law of Towa, and half cousin in law of Setsuna and the niece of Kagome Higurashi, and the first cousin of Moroha.

Moe Higurashi (日暮 萌) is the wife of Sota Higurashi and the mother of Mei Higurashi, adoptive mother and half aunt in law of Towa, half aunt in law of Setsuna, and the maternal aunt of Moroha, and she is sister in law to Kagome Higurashi.

Kirinmaru (麒麟丸) is an ancient qilin demon armed with the Bakuseiken (爆星剣) katana, having traveled the world to prove himself as the strongest demon in the world before establishing his domain in the eastern area of Japan. In the distant past, Kirinmaru was a rival to western lands' great demon Tōga, losing his right arm and horn to the dog demon during one of their earlier fights before they established a truce to fend off the Grim Comet. Kirinmaru ignored Tōga's advice of not taking his daughter Rion into battle with him, leading to her death by a half demon loyal to Emperor Daigo named Sakasa (逆叉) whose going to avenge his master's death. This led to Kirinmaru binding her soul among the living with the intent of reviving her while disregarding a prophecy foretold by the Shikon Jewel that he would die at the hands of a half demon, taking it as a challenge despite Zero's assumption that Tōga's half demon descendants could be what the prophecy foretold. After entering a ceasefire with Sesshōmaru after he and Inuyasha prevented another fragment of the Grim Comet from descending, Kirinmaru takes advantage of Osamu Kirin's presence in the Reiwa Era to bring the Grim Comet back to their time so he can destroy it and be recognized as the strongest demon. Kirinmaru's plan prompts the Sacred Tree of Ages into enlisting Towa, Setsuna, and Moroha to stop him from causing a calamity to unfold from his attempt to alter time.

Zero (是露) is Kirinmaru's older sister who had coveted the love of Tōga of the Western Province, the Great Dog Demon, becoming embittered and heartbroken when she had the chance to prevent Tōga's death when the Shikon Jewel foretold his demise. Her sorrow at losing him is what created the seven Rainbow Pearls containing her demonic powers and emotions. Having grew to hate Tōga's descendants, she acted on her own to prevent Kirinmaru's death sending Joka (女禍) the leader of the Ka Demon Tribe to kill the twin daughters of Sesshomaru after night of the lunar eclipse, but it failed as Joka reported that she can't sense the twins because of the barrier placed by Jaken. After the Grim Comet has been destroyed, Zero inflicted Rin with the Silver Scale Curse in an attempt to force Sesshomaru to relinquish his daughters while binding her life to Rin's with a red thread of fate as added incentive. When that failed, four years later, Zero recruits an evil mountain kami named Homura (焔) to destroy the forest Towa and Setsuna were in before the twins were separated in the chaos. Zero would make attempts on the twins' lives years alter while having Riku acquire her Rainbow Pearls to regain her power, only for Kirinmaru to scatter then after Sesshomaru revived her with Tensaiga. After regaining her Pearls and sending Riku away, Zero takes advantage of the twins' memories engraved in her Gold and Silver Pearls as he recruits Nanahoshi (七星) to consume Towa in enough rage at part of Zero's gambit for Towa to kill her, with Towa force to live with the guilt of murdering her own mother by proxy. But Sestuna intervenes and servers a second red thread that linked Zero's heart to Tōga before Zero resorts to suicide, causing Zero's memories of her regret to resurface. A repentant Zero end her hold over Rin and has Riku kill her, using her final moment to reveal the reasoning behind Kirinmaru's madness to Towa and Setsuna and that they may free him as she fades away to nirvana.

Rion (りおん) is the fourteen year old daughter of Kirinmaru, whose spirit has been sealed away by her father on Mount Musubi for 600 years after she was killed a half demon named Sakasa, who took her hostage to avenge his master's death. Once rescued by the Half Demon Princesses, Rion transferred her mind and spirit into a clay doll containing her bones and grave's soil and achieved an artificial human looking form similar to Kikyo. Becoming a traveling companion of Riku, traveling briefly with Towa while her aunt Zero was threatening the young half demon girl's life, seeking to stop her father.

Osamu Kirin (希林 理) was the English teacher at Saint Gabriel Academy and Towa's homeroom teacher. Osamu is revealed to be created from Kirinmaru's right arm after Riku dumped into the Bone Eater's Well as part of Kirimaru's plan to monitor the Grim Comet's arrival to Earth so it can be brought back to the past so it can be destroyed for good. Ending up in the Heisei Era, Osamu learned of how much the world changed since demons went extinct. In the Reiwa era, he's been keeping an eye on the Grim Comet that it's coming closer to the Earth for weeks. But upon learning of Rion's death, Kirin brings the Grim Comet to the Feudal Era with the intent of wiping out all the demons while he and Rion remain to rule over humanity for its own good. He is ultimately defeated by the Half Demon Princesses with Rion dealing the final blow.

Grim Comet (妖霊星) is a cocoon of a primordial being called the Grim Butterfly (妖霊蝶), which travels across the cosmos and approaches Earth every five centuries. Tōga and Kirinmaru destroyed a demon infested fragment of the Grim Comet that broke off during the Heian period, Inuyasha and Sesshōmaru doing the same 500 years later. Kirinmaru expected the Grim Comet's eventual return in the distant future, arranging Osamu Kirin's arrival to the present so the comet would be brought to the past and be destroyed for good. But Osamu, after learning of Rion's death, betrays Kirinmaru and awakens the Grim Butterfly to use its power to wipe out every demon while placing himself and Rion as humanity's rulers.

The Four Perils (四凶) are a quartet of demons that serve under Kirinmaru, each entrusted with a Rainbow Pearl with Riku orchestrating their deaths.

Kyūki (窮奇) is one of Kirinmaru's Four Perils who possesses the Purple Rainbow Pearl. Her demon form is a winged tiger. She gave the Purple Rainbow Pearl to Yotsume (夜爪), the four eyed owl demon to find weaknesses in the minds of the Half Demon Princesses via the dream gazing spell. She is defeated by Towa's Azure Dragon Wave attack, and Riku steals the Purple Rainbow Pearl as he kills her by draining her of her bodily fluids via the blue earring. More about her history with Lord Kirinmaru and Riku is revealed in "Secret of the Rainbow Pearls", and "The Barrier of Mount Musubi" via flashbacks.

Tōkotsu (檮杌) was one of Kirinmaru's the Four Perils, who possessed the red Rainbow Pearl Kirinmaru bestowed him before being killed by Moroha prior to her meeting Setsuna. After he was resurrected by his son Jakotsumaru, as a spector, he was defeated by Setsuna by using her Buddhist powers sealed by Miroku, and Towa banished Tōkotsu to the afterlife. More about his history with Lord Kirinmaru is revealed in "The Barrier of Mount Musubi" via flashbacks.

Konton (渾沌) is one of Kirinmaru's Four Perils. After Kyūki is defeated he takes over trying to annihilate the demon princesses. He has the blue Rainbow Pearl in his second armor after Moroha produced the Crimson Backlash Wave from her Crimson Dragon Wave and her mentor the wolf demon Yawaragi: the Scattering Winds. More about his history with Lord Kirinmaru and Riku is revealed in "Secret of the Rainbow Pearls", and "The Barrier of Mount Musubi" via flashbacks.

Tōtetsu (饕餮) is the last of Kirinmaru's Four Perils to appear. More about his history with Lord Kirinmaru is revealed in "The Barrier of Mount Musubi" via flashbacks.

Jakotsumaru (若骨丸) was the son of Tōkotsu, whom he wanted to revitalize by giving him enough bones from mortals, demons, and animals, and after that, turn the bones to red to resurrect his father.