Cast and characters
Tom Ellis as Lucifer Morningstar: Bored with his life as the Lord of Hell, Lucifer abandons his throne to run his own high-end nightclub in Los Angeles while working as a civilian consultant for the local police. In season 5, Ellis also portrays Lucifer's twin brother Michael, who briefly takes over his brother's identity after Lucifer returns to Hell.
Lauren German as Detective Chloe Decker: A homicide detective and former actress whose late father was an LAPD officer. She solves crimes with Lucifer, who takes an interest in her upon noticing that she seems to be the first human he has ever encountered who is immune to his charms.
Kevin Alejandro as Detective Daniel "Dan" Espinoza: An LAPD homicide detective and Chloe's ex-husband, he develops a complicated friendship with Lucifer as they often clash and insult each other, partly due to the fact that Lucifer and Chloe slowly become romantically involved.
D. B. Woodside as Amenadiel: Lucifer's older brother, he is an angel 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 later becomes the father of the first half-angel/half-human baby in history with Linda.
Lesley-Ann Brandt as Mazikeen "Maze": A confidante and devoted ally of Lucifer, she is a demon who, having served as Lucifer's head torturer, joins him in Los Angeles to act as a bartender and bodyguard at his 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. In season 5, Brandt also portrays the demon Lilith, who is 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 young daughter who befriends Lucifer and Mazikeen, initially to their chagrin.
Rachael Harris as Dr. Linda Martin: Lucifer's Stanford-educated psychotherapist. In season 4, she and Amenadiel welcome their son Charlie, who is considered the first half-angel/half-human baby in history.
Kevin Rankin as Detective Malcolm Graham (season 1): A crooked 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.
Aimee Garcia as Ella Lopez (seasons 2–6): A forensic scientist for the LAPD from Detroit. 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 almost endless optimism and enthusiasm.
Tricia Helfer as Mum / Goddess (season 2; guest season 5) 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.
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.
Inbar Lavi as Eve (season 4; guest season 5; 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.
Brianna Hildebrand as Aurora, aka Rory (season 6): A half-human/half-angel (Nephilim) 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.
