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Wander (voiced by Jack McBrayer) is a optimistic, goodhearted, outgoing, energetic, and nomadic traveller who is occasionally annoying to the more levelheaded people around him. He aspires to explore different worlds and help people have fun and live free, in opposition to the evil reign of Lord Hater and his army of Watchdogs. Given his positive attitude and beliefs, Wander is often oblivious and inattentive to danger and will throw himself into dangerous situations without thinking things through properly. Wander is a short, furry, orange-skinned alien of an indeterminate species called Star Nomad. The inside of his hat acts as a portal that provides him with whatever he needs (although not necessarily what he wants). The episode "The Waste of Time" reveals that Wander has gone by at least one different name, such as Tumbleweed, and that he took the name Wander after being called a "wandering weirdo" by Sylvia.
Sylvia (voiced by April Winchell) is Wander's horse-like steed and best friend, who explores and travels the universe with him. She acts as Wander's protector and is always there to help him when he inevitably puts himself in dangerous circumstances. She enjoys fighting, and though her rough nature can cause her to come off as ill-tempered, quarrelsome, inconsiderate, and reckless at times, she also has a softer side. The episode "The Waste of Time" reveals that Sylvia was once a bounty hunter who tried turning Wander in for money, but he eventually wore her down and she dropped her criminal ways in favor of traveling with him.
Lord Hater (voiced by Keith Ferguson) is a skeleton with electrical powers who is the ruler of the Hater Empire and Wander's self-proclaimed nemesis. He is a power-hungry, evil, and cruel tyrant, while at the same time being a childish, petty, temperamental, and emotionally unstable egotist. He often does things based on emotion, which leads him to act irrationally.
Commander Peepers (voiced by Tom Kenny) is a Watchdog and Lord Hater's right-hand. He is far more intelligent, focused, and disciplined than Lord Hater, though he has a tendency to underestimate Wander's capacity to foil their schemes. He acts as Lord Hater's strategist, usually making all of their plans and leading the Watchdogs into battle.
The Watchdogs (various voices) are small eyeball-headed aliens that serve as Lord Hater's minions and the bulk of his army. They are loyal to their master, but are frequently distracted by Wander's interference, particularly as their "enemy" treats them better than their ruler.
