Bronx

African exhibit

 * Mufasa: a lion who dies in every episode.
 * Bindi, Inkaekha, Naanda, Diku, Dwala: Five lionesses, Mufasa's wives.
 * Ingo, Chumvi, Tojo, Malka: Four lion cubs, Mufasa's sons.
 * Isifo, Kula, Tama: Three lioness cubs, Mufasa's daughters.

Asian exhibit

 * Barnaby: a black bear and the series's protagonist.
 * Sanguisuga: a tiger.

North American exhibit

 * Robin: a red fox, Barnaby's best friend.
 * Starfire: a red vixen, Robin's wife.

Ocean exhibit

 * Destiny: an orca.
 * Bailey: a beluga whale.

Others

 * Charleston: a Belgian Malinois.
 * Sascha: an Irish setter.
 * Cooper: a Bloodhound puppy, Charleston's protege.