Cast and characters
- Tom Ellis as Lucifer Morningstar: Lord of Hell, Lucifer, after becoming bored with his life, abandoning his throne for five years, becomes a civilian consultant for the Los Angeles Police Department while running his own high-end nightclub called Lux.[4] In season 5, Ellis also portrays Lucifer's twin brother Michael, who briefly takes over his brother's identity after Lucifer returns to Hell.[5]
- Lauren German as Detective Chloe Decker: Her late father was an LAPD officer, and she is a homicide detective. She solves crimes with Lucifer, who takes an interest in her upon noticing that she seems to be immune to his abilities.[6]
- Kevin Alejandro as Detective Daniel "Dan" Espinoza: An LAPD homicide detective and Chloe's ex-husband.[7] He develops a complicated friendship with Lucifer as they often butt heads and insult each other, partly due to the fact that Lucifer and Chloe date.
- D. B. Woodside as Amenadiel: An angel, Lucifer's older brother, and the eldest of all their siblings. He arrives in Los Angeles to encourage Lucifer to go back to Hell, and failing that, he attempts to force Lucifer back in different ways. He has the first half-angel/half-human baby with Linda.[8]
- Lesley-Ann Brandt as Mazikeen: Confidante and devoted ally of Lucifer, "Maze" for short. She is a demon who, having served as his head torturer, follows him from Hell to Los Angeles, and acts as a bartender and bodyguard at Lucifer's club. In the second season, Maze looks for a new direction on Earth and becomes a bounty hunter. She marries Eve in the final season.[9][10] In the fourth episode of season 5, Brandt also portrays the demon Lilith, Maze's mother and Lucifer's ex-lover.
- Scarlett Estevez as Beatrice "Trixie" Espinoza (seasons 1–4, recurring seasons 5–6): Chloe and Dan's daughter, who befriends Lucifer and Mazikeen.[11]
- Rachael Harris as Dr. Linda Martin: Lucifer's Stanford-educated psychotherapist. In season 4 she gave birth to Charlie (Amenadiel's son) who is considered the first half-angel-half-human baby in the universe and throughout all time.[8]
- Kevin Rankin as Detective Malcolm Graham (season 1): A police officer who was shot prior to the beginning of the series. He briefly died, but then is brought back from Hell by Amenadiel to kill Lucifer.[12]
- Aimee Garcia as Ella Lopez (seasons 2–6): A forensic scientist for the LAPD, originally from Detroit.[13] In season 3, it is revealed that Ella had been regularly visited by Lucifer's sister "Rae-Rae" Azrael, the Angel of Death, after surviving a car crash in her youth. She is known for her bubbly personality and often never-ending optimism and enthusiasm.
- Tricia Helfer as "Mum" / Goddess (season 2; guest season 5/episode 14) and Charlotte Richards (seasons 2–3; guest season 6) and as Shirley Monroe (guest season 5/episode 4) : Lucifer and Amenadiel's mother and exiled wife of God, who has escaped her prison in Hell. She is described as "the goddess of all creation". On Earth, her soul occupies the body of Charlotte Richards, a murdered lawyer. After she leaves the universe at the end of the second season, the human Charlotte is resurrected. Having lived in Hell during this short time for defending several criminals, Charlotte seeks the redemption she finds by helping Lucifer and Chloe on two cases, then gets a prosecutor job and abandoning her law firm. She is the 2nd person in total to whom Lucifer reveals his angel wings and she helps Amenadiel on a investigation on Marcus Pierce. Charlotte is murdered at the end of season 3 by Marcus/Cain after saving Amenadiel.[14][15] In season 5, Goddess briefly returns from her universe to reunite with God who chooses to retire with Goddess to her universe. In the series finale, Charlotte briefly returns, sharing a meal in Heaven with Dan with whom she had a romantic history with prior to her murder.
- Tom Welling as Lieutenant Marcus Pierce / Cain (season 3): A highly respected police lieutenant who oversees the work of Chloe, Dan, and Ella at the LAPD. He is revealed to be the immortal Cain, Adam and Eve's son and Abel's brother. He is the world's first murderer, condemned to wander the Earth forever with the Mark of Cain.[16]
- Inbar Lavi as Eve (season 4; guest season 5;[17] recurring season 6): The world's first female human who recently left Heaven, Cain's mother and former lover of Lucifer. She eventually becomes a bounty hunter and marries Maze.[18]
- Brianna Hildebrand as Aurora, aka Rory (season 6): A half-human-half-angel who shows up in Hell and then on Earth seeking vengeance on Lucifer. She absconds to Earth with Dan's soul in an attempt to learn how to kill Lucifer. She is later revealed to be Chloe's and Lucifer's daughter from the future who is enraged with Lucifer for his apparent abandonment of her before she was even born. She has blades instead of feathers in her wings which can hurt Lucifer.
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