Lily is affiliated with the reserves of the Galactic Space Forces and has received extensive warfare training since shortly after she was born. She has always received excellent marks in her training classes and has even participated in recent skirmishes as emergency support. While she sometimes displays the air of a naive little girl, she strictly obeys every command of her superior officers and aims to execute all of her responsibilities perfectly, regardless of their nature. Lily has entered the F-ZERO competition simply as part of her training. She hopes to polish her snap decision-making skills under pressure.

PJ works as a cabbie for Galaxy Cab, a company whose taxis travel from planet to planet all over the universe. As the biggest earner at Galaxy Cab he demanded an increase in wages, which resulted in a fight with the owner of the company and wound up earning him a temporary suspension. PJ then saw an article about the F-ZERO races, and it changed his life. He took all of his savings and transported his taxi into an F-ZERO machine. Can he really take the driving skills that he forged as a taxi driver and use them to win the Grand Prix?

QQQ is a junk robot that was found buried in a scrap pile in a gigantic waste-management facility. It's still unclear why it was discarded there, but it was coincidentally picked from the heap and repaired by a very able space-police detective named Phoenix and quickly became his partner. For a robot, QQQ's construction is quite obsolete, but its artificial intelligence is still considered cutting-edge for any age. QQQ is tortured by the knowledge that some very important data lies somewhere in its AI programming. Since the robot was damaged when it was thrown away, its memory cannot currently access it. The truth of the mystery data is this: QQQ was brought from the future by Phoenix and has the necessary navigation hardware needed to traverse time. However, if its AI is not repaired (thereby restoring its memory), it will never be able to return to the future.

Phoenix is a time traveler who has come back in time from the future. His role is that of a space detective dispatched to protect the natural progression of time and history. He came to this era after receiving information that an event would occur in this next F-ZERO Grand Prix that would change the history of the entire universe. He's now busy running around in his beloved time machine, the Rainbow Phoenix, trying to stop this event before it occurs.

This mysterious pilot makes even Black Shadow, the evil emperor shudder with fear. Since the huge accident four years ago, several F-ZERO pilots have turned up missing : in all of the missing-persons investigations conducted by the Space Police, Deathborn was the primary suspect. Deathborn has died three times, but each time was brought back to life by exchanging his real body parts for mechanical ones. Through these procedures, he has become essentially immortal. A device installed within his body allows him to travel freely through space, making it possible for him to mystically appear anywhere at any time. He banishes those he dislikes to the outer limits of space where they become drifting vagabonds for all eternity. Deathborn is plotting to take over the universe. His plan is to obtain the ultimate power that would allow him to determine life and death on every star as he sees fit.