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Katia "Katy" Johnson is the main character in the story. She is a 15-year-old (turning 16) girl with a creative mind. Her drawings, created by her father, come to life from her drawing through a magical stylus her father gave it to her when he disappeared in one of the dimensions (or "worlds"). Her mother was once overprotective when Katy was little, but then became content when Katy became a hero in her first adventure with her best friends, the shy but kind Dolores and the boastful and energetic Sam. Some other classmates think her father's from another dimension because he's working for a space-time organization that features entrances to different worlds, known as the "Department of Secret Dimensions" (or the DSD), but a few of them tells her story.
Dolores Martinez is a 14-year-old (turning 15) shy, yet kind girl of Latino heritage, who loves music and dancing. She came from a strict family of dressmakers, whose great-great-grandfather, who was a famous magician and musician from Dolores' stories has abandoned the family years ago. She wears a magical golden pendant, with the word "Nando" inscribed on it, which was used to be her great-great-grandfather's, then to her great-grandmother, Dora, and to Dolores, as the clue to her great-great-grandfather's identity, and contains a secret power that makes Dolores communicates to ghosts. Dolores later found out that "Nando", who is a skeletal spirit whom she met him in the spirit world as inscribed on her pendant, was the name of her great-great-grandfather, and that Dora is his daughter. She has a birthmark on her forehead just like Nando's and Dora's, a golden flaming heart surrounded by a wreath of white roses pierced by seven swords, 4 on the left and 3 on the right, symbolizing pureness and suffering.
Samantha "Sam" Pierce is a 15-year-old energetic, once boastful and spoiled, tomboyish girl who is the tallest of the girls. She is a martial arts expert, like her father, who is an stuntman and director, wanting to become a stuntgirl in movies when she grows up. Her mother is a workhaholic designer for her fashion company, known as Super Stars. Sam was once a boastful and spoiled rival to Katy during P.E. class and lunch, especially to her parents, because of Katy's belief to other dimensions just like her father, but become resolved when she traveled with Katy and Dolores to another world as their first adventure.
Amanda "Mandie" Johnson McConan is 7-year-old girl who appears to be in chibi. She wears a blue schoolgirl's uniform and a badge, which was revealed that she is from the future and that she traveled back in time to help the girls in their adventures. She was later revealed as Katy and Richie's daughter from the 2020s.