Steven Quartz Universe - A human-Gem hybrid as a result of his parentage, Steven is an extraordinarily unique being with innate powers beyond that of both normal humans and Gems. While only a child, Steven has steadily grown from a tag-along to the Crystal Gems into the team's unofficial leader thanks to his kind-hearted nature and resourcefulness. Though he is part of a monumental legacy, Steven is devoted to fulfilling his destiny as protector of humanity, just as his mother was before him.
Pearl - One of Rose Quartz's closest followers and her sole confidant, Pearl is one of the last surviving Gems on Earth who joined the Crystal Gems in their rebellion against the Gem Homeworld. Pearl would afterward protect the Earth over the next several millennia alongside her friends, while later teaching Rose's son, Steven, the ways of Gems. Pearl is also a perfectionist and very knowledgeable.
Amethyst - A member of the Crystal Gems. She is the last known Gem manufactured on Earth as a part of the Gem Homeworld's Kindergarten project, and one of the last surviving Gems on Earth. After being found by Rose Quartz and the other Crystal Gems, Amethyst helped her friends protect the Earth over the next four millennia, and often aids in the shenanigans of Steven Universe, Rose Quartz's son. Amethyst is fun-loving and carefree. Loud and full of laughter, she is easily amused and very impulsive. She is bad-mannered, untidy, and a bit lazy; much to Pearl's detriment, but still means well. She is also a bit of a hoarder.
Garnet - The fusion of Ruby and Sapphire and the current de-facto leader of the Crystal Gems. Garnet is one of the last surviving Gems on Earth who joined the Crystal Gems in the rebellion against the Gem Homeworld, and afterwards assisted her friends in protecting the Earth over the next few millennia. After Rose Quartz gave up her physical form to give birth to her son, Steven Universe, Garnet took over as the leader of the group. Though she is often the most pragmatic and straightforward of the Crystal Gems, Garnet tends to act on intuition rather than seriously analyzing a situation, as often seen throughout the series. As the leader, Garnet is often the peacemaker of the Crystal Gems, especially when Pearl and Amethyst start arguing.
During the Crystal Gem raid on Blue Diamond's court at the start of the Rebellion, Ruby saved Sapphire from being harmed by Pearl, causing them to accidentally fuse. When Garnet is formed, she is confused and doesn't understand what she is, since Ruby only ever fused with other Rubies and Sapphire never fused at all. Garnet quickly loses form as Blue Diamond's court closes in on her, since fusion between different kinds of Gems is strictly prohibited. In order to save Ruby, who blamed herself for the ordeal, Sapphire fled with her and the two became outcasts, able to form Garnet again. Garnet had trouble getting used to being a fusion at first, and tripped down a hill, where she was found by Rose Quartz and Pearl. Garnet explained her confusion to Rose, to which she replied that it was perfectly fine to be a fusion, recruiting her to the Crystal Gems.
Lapis Lazuli - During her alignment with the Gem Homeworld, Lapis was imprisoned within a magical mirror amidst the Rebellion for thousands of years until she eventually convinced Steven to free her. She returned to Homeworld, only to be forced back to Earth by Peridot and Jasper. She fused with Jasper into Malachite to imprison and take her anger out on her, only to later unfuse and decide she has no other choice but to live on Earth, due to trapping a highly-regarded Quartz soldier. Lapis lived at the Barn with the newly reformed Peridot until the threat of another war became a reality. She left Earth and had taken the Barn with her to the Moon. Steven finds her in "Can't Go Back" and convinces her to come back, but after he has another vision of the Diamonds, Lapis decides to leave the Moon. However, in "Reunited", she returns to Earth to fight against the Diamonds, becoming a Crystal Gem in the process.
Peridot - She was originally a Homeworld Gem technician and a certified Kindergartner. After being stranded on Earthfollowing the events of "Jail Break", she acted as a recurring antagonist until becoming more of an anti-hero and pseudo-antagonist by establishing a truce with the Crystal Gems in "When It Rains" to help them save the Earth from the Cluster. She officially became a member of the Crystal Gems in "Message Received" after she defied and insulted her Homeworld superior, Yellow Diamond. For some time she lived in the barn with Lapis Lazuli.
Lion - A magical pink lion befriended by Steven that occasionally assists the Crystal Gems. Once a normal lion (presumably owned by Rose Quartz in the Desert hundreds of years ago), Lion eventually died through unknown means. Rose Quartz was able to resurrect Lion through her healing powers, giving Lion pink fur and magical abilities. After being entrusted with many of Rose's belongings, Lion roamed the Desert alone following Rose's departure until eventually being found by Steven.