Here is a list of characters. More to be added.
Link: Main character of every Zelda game. He is known as the Hero of Time and wielder of the Triforce of Courage. He bears a sword and shield and never says anything. He wears a green tunic which usually has different articles of clothing added to his costume.
Zelda: The Princess of Hyrule which always has to have her butt saved by Link. She has visions of darkness approaching and warns Link before hand. She bears the Triforce of Wisdom.
Ganondorf: King of the Gerudos and a master thief, Ganon is Link's arch rival. Ganon is always trying to take over Hyrule but Link is always there to stop him in his tracks. Ganon wields the Triforce of Power.
Impa: Zelda's servant and one of her closest friends, Impa has taken care of Zelda ever since her infancy. She is one of the last of the Shieka and the Shadow Sage.
Nabooru: Leader of the Gerudo's. She is a thief but doesn't like to hurt others. She strongly hates Ganon and soon she is kidnapped by Twinrova. Link saves her from their evil clutches and discoveres she is the Spirit Sage.
Saria: One of Link's closest friends, Saria is a Kokiri. Link grew up with her in the forest even though Link isn't a real Kokiri. She teaches him a song and gives him the fairy ocarina which helps him on his journey. When he must save her from the Forest Temple, he discovers she is the Forest Sage.
Ruto: While searching for the Water Pendant, Link's journey heads him inside the belly of Lord Jabu Jabu. There, Link must search for Ruto inside of Jabu Jabu. When he finds her, she doesn't seem to happy about being rescued. But once he leads her out she gets a little crush on him and decides to give him the pendant if he marries her in the future.
In the future, he finds her in the Water Temple and he learns she is the Water Sage.