 Our hero. Combine Ryouga's nosebleeds, Ranma's martial arts skill and Kyosuke's indecisiveness, and you have Tenchi. Tenchi is a nurturing type of fellow, who cares for all of those around him. He is a bit timid at first, but grows less timid and much stronger as the series progresses.
In the OAV series, he is "killed" (see debate on wither or not Tenchi was killed) in OAV 5, He is rescued by Tsunami, and is rebuilt. He faces Kagato again, and defeats Kagato by Generating Light Hawk Wings.
 A space pirate. Ryoko is in love with Tenchi and would do anything for him. Unfortunately, she doesn't have a lot of experience when it comes to matters of the heart, any many times will let her emotion and lusts get away from her.
In the OAV series, Ryoko is an artificially created life form, created by Washu. Originally Ryoko was under Kagato's control, where she pillaged many star systems, and attacked Jurai, Ayeka's home planet, in a attempt to steal Tsunami. Ryoko was unsuccessful and fled Jurai, with the crown prince of Jurai, Yosho, pursuing her to earth, where Yosho shot down Ryo-Ohki, and forced a battle on the planet surface. Yosho defeated her in combat, and sealed her in a cave. 700 years later, Tenchi accidentally freed Ryoko.
In the TV series, Ryoko is a Space Pirate, who gets too drunk one day, and is shot down by the greatest Police Detective of all time: Mihoshi. Tenchi "Rescues" Ryoko, who promptly lies to Tenchi, and tells Tenchi that Mihoshi is a space Pirate. When the truth is revealed, she "teases" Tenchi by trying to kill him, but ends up falling in love with Tenchi.
 A cabbit (half cat, half rabbit). Ryo-Ohki is Ryoko's ship. She regenerates himself from ship form to cabbit form by turning into an egg. Ryoko throws her high into the air to turn her back into a space ship. Ryo-Ohki mostly hangs around Sasami. She's obssessed with carrots. In the OAV series, she gains a human form which resembles a 3 or 4 year old girl.
 The crown princess of Jurai. Sometimes fixated with royalty, Ayeka can be petty. She has experience with the complexity of Court life, but is just as bad as Ryoko when it comes to men.
In the OAV series she was betrothed to Yosho, her half brother, who left Jurai to pursue Ryoko. Ayeka left Jurai to search for him. There is a hidden friendship later in the series between Ayeka and Ryoko, but is marred by the mutual competition for Ayeka.
In the TV series, she is still a princess, but is not engaged to Yosho. Mihoshi issues a distress call, which Ayeka receives on board her ship, Ryu-oh. She is immediately taken with Tenchi, but after it appears that Ryoko has taken Tenchi from her, she tries to commit triple romantic suicide, and rams Ryoko's ship, Ryo-Ohki. She is left stranded on earth with Tenchi, Mihoshi and Ryoko.
 Ayeka's little sister. Sasami deals with Tenchi much better then any of the other girls, much to the other girls frustration. Sasami has a crush on Tenchi, and tends to be a little mischievous. She also knows the way to a man's heart, and cooks for the family.
In the OAV's (and hopefully, in the new TV series), there is much more to Sasami. Sasami is the alter ego of Tsunami. When Sasami was a young girl, when Ryoko attacked Jurai, Sasami was thrown from a overhang, and collapsed in front of one of the Jurain Trees. The tree (either Tsunami, or a tree that was linked to Tsunami) merged with Sasami to save Sasami's life. In the process, Tsunami assimilated with Sasami, making them one and the same.
 A mad scientist. Washu created Ryoko, and Ryo-Ohki. She has a interest in Tenchi, but it appears to be more of a motherly figure then anything else. She appears to be a 12-year-old redheaded girl, but in reality, is probably older then 20,000 years old. She attended the Science Academy, and at one point or another, was the chairperson.
In the OAV series, she is one of the three most powerful "goddesses" in the universe. During episode 6, she is trapped inside of Kagato's ship. Mihoshi accidentally frees her. All though she is powerful, her power is never flaunted.
She was once married and had a child, who was taken away from her, because she was not royalty. She is also Ryoko's mother, and created Soja and Ryo-Ohki.
In the TV series, Washu is an exiled mad scientist, who is locked in a capsule, which crashes into earth. Because Human beings have a instinc1t to know what is or isn't evil, they created a shrine, and put Washu's capsule in a large cave, to make sure she never escaped.
 A blonde Mihoshi is a member of the Galaxy Police. She is commonly referred to as the "luck vampire" as she is the most incredibly lucky person in the universe, and her partner is the single most unlucky.
The grand daughter of the GP head in the OVA, and she gets many of the newest equipment due to that reason. Her ship, weapons, and most of her items are either illegal or far more powerful than the one that is normal sold, or owned by another officer. She can put out the fire but instead she will bring a flood along.
In the OAV series, Mihoshi is ordered to scout for Kagato, which she interprets as capturing Kagato. Unfortunately, Mihoshi crashes her ship on earth, and is saved from being sucked into a black hole by Tenchi. Mihoshi is a ditz with a purpose in the OAV series.
In the TV series, Mihoshi is in pursuit of the dreaded space pirate Ryoko. Mihoshi is a ditz with out a purpose in the TV series.
 Mihoshi's Partner in the TV series. She is not in the OAV series. Kiyone tends to be the sanest of the Tenchi girls, primarily because she is not interested in Tenchi. She acts as a foil for Mihoshi.
 Tenchi's old father. He is a widower, and has never re-married. He tends to enjoy tormenting his son, and is looking forward to being a grandfather
 Tenchi's Grandfather. He is unimpeachable, and typically knows much more then he lets on. While he does not seem to have a lot of power (as in being able to blast stuff) he is incredibly skillful, beating Mihoshi's Mecha suit (in the TV series) with a Bokken (wooden practice sword), and Kagato with Tenchiken (in the OAV's).
In the OAV series, he left Jurai 700 Years ago to pursue Ryoko. Later he admits that he was looking for a way to leave Jurai. He takes a assumed name, and has a daughter, Achika, who is Tenchi's mother.
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