The following is a list of Muppet, animated, and human characters on Sesame Street, ordered alphabetically by first name.

• Alan (1998-) Propietor of Hooper's Store. (Alan Muraoka)
• Aloysius Snuffleupagus (Jerry Nelson) (1971-1980), (Martin P. Robinson) (1980-)
• Baby Bear (David Rudman)(1992-)
• Barbara the Chicken (2003)
• Barkley (Brian Muehl) (1977-1984), Fred Garbo Garver (1984-1987),Tom Townsend (1988), R. Bruce Connelly (1988-)
• Benny Rabbit (Kevin Clash) (1991-1998, 2001, 2002)
• Bert Straight-man to Ernie's jokes. (1969-) (Frank Oz) (1969-2000), Eric Jacobson (2000-)
• Betty Lou (Lisa Buckley) (1970-19??), (Fran Brill) (1998)
• Biff (Jerry Nelson) (1973-1993) and Sully (Richard Hunt) (1973-1992)
• Big Bad Wolf, The (Jerry Nelson) (1970-)
• Big Bird A tall, inquisitive yellow bird. (Caroll Spinney) (1969-), Danny Seagren (1969-197?), Rick Lyon (2001), Matt Vogel (2002-)
• Bob (1969-)
• Buffy Sainte-Marie
• Carlo (1993-1997)
• Celina (1993-1996) (Annette Calud )
• Chuckie Sue
• Cookie Monster (Frank Oz) (1969-2000), (David Rudman) (2000-)
• Count von Count (Jerry Nelson) (1972-)
• Curly Bear (Fran Brill) (2003-)
• David (Northern Calloway ) (1971-1989)
• Deena Monster (Karen Prell) (1983-1984)
• Dingers
• Don Music (Richard Hunt) (1973-1990)
• Dorothy
• Dr. Gina Jefferson Proprietor of Hooper's Store, university student, vet. (Alison Bartlett-O'Reilly)
• Elmo (Brian Muehl (1979-1981), Richard Hunt (1981-1985), Kevin Clash) (1985-)
• Ernie Comedic counterpart to Bert. (Jim Henson (1969-1990), Jane Henson (assistant) (1969), Steve Whitmire) (1993-2002, 2004-), (Matt Vogel) (assistant) (2000-), (John Tartaglia) (2003)
• Ernestine Ernie's baby niece.
• Fanny
• Farley (Jerry Nelson) (1970-19??, 1998)
• Fat Blue Repeatedly irritated customer. (Jerry Nelson) (1970-1999)
• Fluffy
• Forgetful Jones (Richard Hunt) (1979-1992)
• Frazzle (Jerry Nelson) (1971-1983), (Martin P. Robinson) (1997-1998)
• Fuzzy-Face , Grover's predecessor (Frank Oz) (1969-2000), Eric Jacobson (1997, 2000-)
• Gabriella Rodriguez (Desiree Casado ) (1993-)
• Gladys the Cow (Richard Hunt) (1971-1992), (Jennifer Barnhart) (2003)
• Googel of Monster's Clubhouse
• Gordon Friendly school teacher and parent. (Roscoe Orman ) (1974-)
• Grandfather Honker
• Granny Fanny Nesselrode (Jim Henson) (1971-198?)
• Grover Confident, entrepreneurial monster. (Frank Oz) (1969-2000), Eric Jacobson (1997, 2000-)
• Grover's Mommy (Alice Dinnean Vernon) (2001-2002) ??? (2004, A Celebration of Me, Grover )
• Grungetta Brian Muehl (1982-1984), (Pam Arciero) (1984-1999, 2003)
• Guy Smiley (Jim Henson) (1970-1990)
• Harvey Kneeslapper
• Herbert Birdsfoot
• Herry Monster
• Hiroshi
• Honkers
• Hoots the Owl
• John-John
• Kermit the Frog (Jim Henson)
• Koty
• Lefty the Salesman
• Leonard the Wolf
• Linda
• Little Bird
• Luis Rodriguez (Emilio Delgado )
• Lulu
• Mama Bear
• Maria Rodriguez (Sonia Manzano)
• Mary Monster
• Mel of Monster's Clubhouse
• Miles Robinson
• Mr. Handford
• Mr. Hooper Proprietor of Hooper's Store. (Will Lee )
• Mr. Mcintosh
• Mr. Robinson, Gordon's father
• Mumford the Magician
• Narf of Monster's Clubhouse, a nonsense speaking, mop-headed monster.
• Nina the Nice
• Olivia Robinson Gordon's photographer sister.
• Oscar the Grouch, a monster who lives in a garbage can. (Caroll Spinney)
• Osvaldo the Grouch
• Papa Bear
• Pearl Monster Baby Bear's supporting father.

• Phoebe of Monster's Clubhouse
• Placido Flamingo
• Prairie Dawn A patient but flustered pageant organizer.
• Professor Hastings
• Rodeo Rosie
• Roosevelt Franklin A street-wise, cool-cat student.
• Rosita
• Ruby
• Ruthie Slightly eccentric second-hand shopkeeper. (Ruth Buzzie )
• Sam the Robot
• Same Sound Brown
• Savion
• Snow White and the Seven Dwarfs: Sparky, Schnooky, Drippy, Pokey, Flaky, Sneaky, and Pinky
• Sheldon
• Sheldon the Turtle
• Sherlock Hemlock
• Simon the Soundman
• Slimey Oscar's pet earthworm.
• Smart Tina
• Susan Robinson
• Telly Monster
• The Two-Headed Monster
• Twiddlebugs
• Uncle Wally
• Wanda the Word Fairy
• Yip-Yips
• Zoe

Primary Puppet Characters

Many of the puppet characters were designed by Jim Henson himself.

• Bert
• Ernie
• Big Bird
• Oscar the Grouch
• Cookie Monster
• Count von Count ("The Count")
• Grover
• Aloysius Snuffleupagus
• Kermit the Frog
• Elmo
• Rosita, la Monstrua de las Cuevas
• Baby Bear, and rest of the Bear family, Curly Bear, Papa Bear, Mama Bear
• Telly Monster
• Zoe

Secondary Puppet Characters

• The Furry Arms: Propietors Natasha, Humphrey and Ingrid , bell-hop Benny Rabbit
• Monster's Clubhouse: Googel, Narf, Mel and Phoebe
• Farley (picture) is a young, green-skinned boy with red hair and wearing a yellow shirt. Farley was played by Jerry Nelson for a period after 1970 (to 19??) and in 1998.
• Forgetful Jones , Buster the Horse , Rodeo Rosie
• Herbert Birdsfoot appeared on the show from 1970 to 1973 giving Cookie Monster and Grover alphabet, counting and opposite lessons, in place of Kermit the Frog. He disappeared, as he did not gain popularity in the role, giving Kermit back his placement. Herbert is an Anything Muppet, played by Jerry Nelson.
• Herry Monster is a big, unibrowed, furry light-blue monster who doesn't know his own strength. Herry's puppeteer is Jerry Nelson. Herry appeared on the show from 1970 to 2003; in 2004 he appeared in only the debut episode for Season 35 (episode 4057).
• Twiddlebugs
• The Big Bad Wolf
• Two-Headed Monster

Human Characters

(alphabetically)

• Bob and his Uncle Wally
  • Bob is played by Bob McGrath and has been with the show since it began in 1969. Bob is a music teacher on the show. In the first season, he was a shop teacher. In episode one, Bob instructed Gordon how to hang a picture on the wall. Bob is one of the few people to enter Oscar's trashcan; for the effort of climbing in, he got burnt by Oscar's pet fire-breathing dragon, got covered in muck head to foot, and got his clothes torn by the mess. Picture of Bob singing with Ralph Nader; a later picture of Bob, holding the Sesame Street sign in the rain
• David's grandmother Clarice
• Dr. Gina Jefferson
• Linda
• Wanda the Word Fairy

• The Robinsons: Susan , Gordon, and son Miles ; also Gordon's sister Olivia , and father Mr. Robinson
• The Rodriguezes: Maria Figueroa Rodriguez (Maria), Luis Rodriguez (Luis), and daughter Gabriella Rodriguez (Gabby)
  • In 1988, Maria (picture) and Luis fell in love, which led eventually to a marriage, in which Elmo was a ring bearer. This is a twist to the plot, as Maria ends her truly evident crush on David, who worked in Hooper's Store. Maria and Luis lead an active romance off camera, Maria becoming pregnant just months later and giving birth to baby Gabriella. "Luis" is played by Emilio Delgado , and "Maria" by Sonia Manzano.
• Hooper's Store operators: Mr. Hooper, David, Mr. Handford , Alan, Natalie
  • David was played by actor Northern Calloway from 1971 to 1989. When the actor died in 1990, "David" was retired.
• The Noodles: Mr. Noodle and Mr. Noodle's Brother, Mr. Noodle
• Around the Corner: Ruthie , ballet teacher Celina

Secondary

• ABC Rapper
• Buffy , her husband Sheldon and child Koty
• Carlo
• Hiroshi
• Jamal and Angela , and their children Kayla and Tarah
• Keshia
• Lillian
• Maya
• Mr. Macintosh
• Molly, the Mail Lady
• Wally and Ralph
• Willy

• Comedy teams: Larry and Phyllis , The Number Painter and his victim
• Various lesser used, 1970s characters: Antonio , Miguel, Tom , Judy , Rafael , Kim Raver, Billy
• Real Life Kids: John-John , Fanny

Specialized lists

• By order of debut
• Last known appearance
• Exclusively in books, shows
• Monsters
• Grouches
• Relative characters, who rarely appear
• List of characters from international versions of Sesame Street
• List of Muppets based on celebrities