James "Jim" Holden is the captain of the Rocinante. Born between 30 BXT and 21 BXT in Montana on Earth, Holden joined the United Nations Navy, later being dishonorably discharged after seven years of continuous service. Following the destruction of the Canterbury, Holden, along with Shed Garvey, Naomi Nagata, Amos Burton, and Alex Kamal, underwent a quest to uncover the true culprit, uncovering conspiracies and mysteries across the system. His exploits continued aboard the Rocinante, eventually raising him to system-wide recognition from his many adventures.

Naomi Nagata is a Belter who grew up on prospecting ships in the Belt and Outer Planets. She is an extremely talented engineer, and uses her expertise to improvise ways to keep her crew alive.

Alex Kamal was a veteran navy pilot originating from Mars. Having undergone military training, he was one of the best and most precise pilots in the Sol system.

Amos Burton, formerly known as Timothy, is a ship mechanic originating from Earth. Currently, he works aboard the Rocinante and is one of the four crew members.A skilled mechanic and combatant, he is a master of survival in the dog-eat-dog world of the system, and has a tendency towards violence.