Boots The Monkey
Boots the Monkey is Dora's best friend on the show, whom she met one day in the forest. He is voiced by Harrison Chad in the original English version. Boots is friendly and enthusiastic, and usually wears nothing but his beloved red boots, hence his name, Boots. He is gray with a yellow stomach. His mommy and daddy are designed in the same way with variations in eyes, height, clothing, and fur formation.

Swiper
Swiper is a sneaky fox in a blue mask and gloves, who appears in nearly every episode. He is voiced by Marc Weiner. As his name implies, Swiper steals or attempts to steal key items that help Dora on her adventures. Clever as he is, Swiper never manages to take Dora completely by surprise; an ominous "whisking" sound is always audible just prior to his appearances.

Fiesta Trio
Whenever Dora and Boots are successful in a given portion of their quest (quests are usually divided into three portions), the Fiesta Trio appears from seemingly nowhere to congratulate Dora and celebrate for a brief few seconds with music. The Fiesta Trio is a group of three small animals: a grasshopper, a snail, and a frog.

Backpack
Dora's purple Backpack mochila provides whatever Dora needs to complete her quests. The backpack is a magic satchel, which has been known to produce large items. Backpack seems to have a lot of extra space within her fabric to be held in such a small area. It was given to Dora as a present by her mother and father.

Map
The Map provides travel guidance and advice. When not being consulted, the rolled-up Map resides in a side pocket on the Backpack.

Other characters

Dora's dad (Papi).
Dora's mom (Mami).
Dora's grandma (Abuela).
Dora's cousins (Diego, Daisy, and Alicia).
Dora's twin baby brother and sister.
Dora?s teacher
Boots? music teacher
King Bobo
Santa Claus

Recurring humanoid characters include:

Dancing Elf
Mariana The Mermaid

There are a number of minor, recurring animal characters such as:

Se?or Tuc?n, this character only speaks Spanish.
Isa the Iguana
Benny the Bull
The Big Red Chicken.
Pirate Parrot.
Baby Blue Bird.
Baby Jaguar
Tico the Squirrel
The Grumpy Old Troll
Baby Crab, also Cangrejito.
Mama Bugga Bugga
Wizzle, a cute creature who loves wishes.
Leon the Circus Lion.
Baby Dino the dinosaur
Little Monster
Baby Bear
Baby Ping?ino
Little Lamb
Pinto The Pony
El Coqu?
Baby Red Fish
Pirate Pig, he has an eyepatch and a hat.
Squishy Squid, he loves music and also playing bongos.
Friendly Bear
Baby Fox
Val the Octopus
Little Kitten
Friendly Dragon
Sleeping Sloth
Mountain Goat
Banana Bird
Fifi the Skunk
Sami the Hyena
Fomkah the Bear
Ying Ying the Weasel