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Lucia is the Mermaid Princess of the North Pacific Ocean, keeper of the pink pearl, and the main character of the story. She goes up to land to search for her pearl which she used to save a boy seven years ago. She is unaware of the danger in the marine world and of her real mission until she is told of them by her "older sister", Nikora. She is characterized by her simplicity and naïveté, but with having a strong will, typical traits of sh�jo manga heroines. Her idol form is Pink Pearl Voice. Of all the mermaids in the series, Lucia's mermaid form and human form contrast the most (Lucia has dark blonde hair and brown eyes in the surface while having lighter blonde hair and light blue eyes while at sea).

==Hanon H�sh�==

Hanon is the Mermaid Princess of the South Atlantic Ocean and keeper of the aqua (水色 mizu-iro "water-color") pearl. Unlike Lucia, Hanon goes up to land to escape water creatures. She is perky and feminine, yet a bit more worldly than her friend Lucia. This worldliness is evidenced by many of her actions—especially by her romantic pursuit of her music teacher, Tar� Mitsuki. Her idol form is Mizuiro (Aqua) Pearl Voice, although the first time that it is named in the manga, she is erroneously called Blue Pearl Voice.

==Rina T�in==

Rina is the Mermaid Princess of the North Atlantic Ocean and keeper of the green pearl. Initially she is depicted as beautiful but stern and bent on revenge for the capture of her best friend, Noel. Later, however, she evolves into a more mature character, and acts as an older sister figure to Lucia and Hanon. She seems to love plasma TVs and shows this love in many anime episodes. Her idol form is Green Pearl Voice.

==Kaito D�moto==

Kaito, the son of a pair of musicians, is an avid surfer, as well as Lucia's love interest. Though he is popular with girls, he is secretly in love with a beautiful mermaid who saved him from a shipwreck seven years ago, which killed his parents, and has yet to realize that this mermaid is Lucia. Later in the story, it is discovered that beneath Kaito's human exterior lie some distinctively un-human qualities and that he is a prince of an ancient water race and the younger twin brother of Gakuto. Kaito has a hard time when Lucia comes in her human form, because of having feelings for both her human form and her mermaid form. Kaito eventually realizes that the two are one, giving Kaito the ability to love Lucia no matter what form she is in.

Lucia's guardian who serves as her guide. Hippo accompanies Lucia in her search for her pink pearl, and is among those who voice disapproval of her relationship with Kaito. He is also polite, always putting -�ん, -san after every name, even when angry. In the anime, he is shown as Lucia's pet penguin. Later on, he is able to transform into a very cute human boy, as well as a creature called a Hippocampus.

Nikora is the virtual manager of the "petit-hotel" Pearl Piari (プ� ホテル パール ピアリ ,puchi-hoteru p�ru piari?) on land, where Lucia, Hanon, and Rina work (in the manga, she is the owner of a bath house called Pearl Waters). A purple mermaid, she poses as Lucia's older sister in order to inform her of her mission. In the last chapter of the manga, it is discovered that she is seven years older than Lucia.

Madame Taki is the owner of the Pearl Piari. A fairly major character in the anime who is a fortune teller and friend to the mermaid princesses.

==Tar� Mitsuki==

Tar� is Lucia's music teacher and Hanon's love interest (she refers to him as 太郎�ゃん, Tar�-chan). He had met a mermaid in the past, and made a piano piece for her, not knowing what happened to her after their last meeting.