A list of DC Animated Universe characters who first became prominent in Batman Beyond.
- Main Charactersnote Batman II (Terry McGinnis), Bruce Wayne, Maxine Gibson, Dana Tan, Ace, Barbara Gordon
- Villainsnote Recurring villains: Blight, Inque, Ten, the Royal Flush Gang (the Walker family), Shriek, Spellbinder, Joker, the Jokerz, Zander, Kobra, Curare, Stalker, Willie Watt, Charlie "Big Time" Bigelow, Mad Stan, Starro, Mister Freeze, Ra's al Ghul, Bane,
- One-shot villainsnote Abel Cuvier, Earth Mover, Jackson Chapell, Armory, Peter Corso, Bullwhip, Ratboy, Ian Peek, The Derby, The Brain Trust, David Wheeler, Repeller, Payback, Deanna Clay, Cynthia, Vendetta
- The Joker
- Recurring Charactersnote McGinnis Family (Warren McGinnis, Mary McGinnis, Matt McGinnis), Sam Young, Howard Groote, Bobbi Sommer, Chelsea Cunningham, Nelson Nash, Infiltration Unit Zeta, Tim Drake
- Justice League Unlimitednote Superman, Warhawk, Big Barda, Green Lantern (Kai-Ro), Aquagirl, Micron
- Comic-Only Charactersnote Dick Grayson, The Joker King, Vigilante, T, The Flash (Danica Williams), Catwoman (Black), Batgirl (Nissa)