Puppy Dog Pals: Is about brothers Bingo and Rolly, two puppies who have fun travelling around their neighborhood when their owner Bob leaves home. They also have a cat sister named Hissy, and a robot dog named ARF.

Hissy: Is a sarcastic purple cat. In some episodes, she ends up going along with Bingo and Rolly on their missions. These episodes are: "A Pyramaid Scheme", "Hissy's Big Day", and "Bob Loves Mona".

Bob: Is Bingo's, Rolly's, Hissy's, and A.R.F.'s owner. He's an inventor.

A.R.F.: Is a robotic dog that Bob invented. He first appears in the episode "A.R.F.". Later in the series, he is updated by Bob in "Go, Dog, Go!".

Cupcake: Is a pink puppy who does not like Bingo and Rolly. She is the main antagonist of the series.

Rufus: Is the bulldog with a Black Collar who is always with Cupcake and does not speak. He has been known to chase Bingo and Rolly multiple times.