"Darling in the Franxx" features a diverse cast of characters, primarily focusing on the young pilots who operate giant mechs called Franxx. The main protagonist, Hiro, struggles with his identity and purpose, while Zero Two, a mysterious girl with horns, becomes his partner. Their relationship is central to the story, exploring themes of love and connection. Other notable characters include Goro, Hiro's supportive friend, and Ichigo, who harbors feelings for Hiro. The series also introduces the Ape organization, which oversees the pilots, and the Klaxosaurs, the monstrous enemies they fight. Each character contributes to the overarching narrative of growth and teamwork.