The Underground is small enough that everyone knows everyone, and
that closeness is most of why the story lands. Here's a field guide
to who you'll meet, roughly in the order the mountain introduces
them.
Human
Frisk
The silent protagonist, a human child who falls into the
Underground through a hole on Mt. Ebott. Frisk never speaks and is
barely described, because the game hands their choices to you —
every act of mercy or violence in a run belongs to the player, not
to a pre-written character.
Skeleton
Sans
A short, perpetually unbothered skeleton who tells bad jokes,
sells hot dogs at suspiciously marked-up prices, and appears to
know far more about resets and timelines than anyone else in the
Underground. Easygoing right up until he isn't.
Skeleton
Papyrus
Sans's younger brother: an aspiring Royal Guard member, enthusiastic
puzzle designer, and cook of a spaghetti best described as
"structurally ambitious." Papyrus wants nothing more than friends
and a following, and is disarmingly kind about getting there.
Boss Monster
Toriel
The caretaker of the Ruins, who finds Frisk shortly after they
fall and offers a home, a butterscotch-cinnamon pie, and a very
firm opinion about children leaving the only safe room in the
Underground.
Royal Guard
Undyne
Captain of the Royal Guard: fierce, loyal, and allergic to
half-measures. She trains Papyrus, mentors Alphys, and treats the
protection of monsterkind as a personal, unnegotiable duty.
Royal Scientist
Alphys
The Royal Scientist, responsible for the Core's power output, the
Amalgamates hidden beneath the True Lab, and a string of anime
recommendations. Brilliant, anxious, and quietly carrying more
guilt than anyone lets on.
Boss Monster
Asgore
King of the Underground and Toriel's estranged husband. Collector
of human souls, keeper of a very large garden, and a man who has
convinced himself that a war he never wanted is still worth
finishing.
???
Flowey
The first face Frisk sees underground: a talking golden flower
with a friendly tutorial and an unfriendly agenda. Flowey
remembers every timeline that came before this one, and wants you
to know it.
Celebrity
Mettaton
Alphys's creation and the Underground's reigning entertainment
robot: game shows, quiz nights, and a dramatic form change roughly
when you least expect it. Fabulous by design, dangerous by
request.