Recurring
Queen Shanti (voiced by Freida Pinto) is the Queen of Jalpur and views Mira, who she chose to be the royal detective, to be like a daughter. Prince Neel and Veer are her sons.
Prince Neel (voiced by Kamran Lucas) is a friend of Mira, others in Jalpur, Prince Veer's younger brother, and is a brilliant, talented inventor. He often flies around the city in his "flycycle", a machine that allows someone to fly by pedalling into the air. He also seems to have a little crush on Mira.
Prince Veer (voiced by Karan Brar) is a friend of Mira, Prince Neel's older brother, and the aspiring King of Jalpur.
Priya (voiced by Roshni Edwards) is Mira's cousin, is very creative and aware of fashion, allowing her to make her own clothes.
Pinky (voiced by Hannah Simone) is a commoner and friend of Mira who has a pet goat named Pari. Mira calls her a "goat expert". In one episode, she sings a song about what it would be like to be a goat. Pinky also helps trains ponies for polo matches.
Sahil (voiced by Aasif Mandvi) is Mira's widowed father who often calls her "beti" when talking with her. His wife died some time before the series.
Sanjeev Joshi (voiced by Danny Pudi) is a music teacher and owner of a music shop in the city. He has a goat named Bhavna.
Meena (voiced by Aparna Nancherla) is a cousin of Mira and always wants to have good outfits. She is also, apparently, very good at archery, is Priya's older sister, and has a peacock named Koo. As such, she is Mira's cousin, like Priya.
Dhruv Sharma (voiced by Julian Zane) is a friend of Mira and he has a goat named Bhanu.
Ranjeet (voiced by Maulik Pancholy) and Manjeet (voiced by Karan Soni) are two brothers who live in the city and work at a bicycle shop.
Kamala (voiced by Avantika Vandanapu) is a young girl who is a friend of Mira and works in a chai shop in town. Her younger sister's name is Dimple.
Dimple (voiced by Audyssie James) is a young girl who is Mira's friend, and Kamala's younger sister. She calls Mikku and Chikku "gooses."
Manish (voiced by Parvesh Cheena) and Poonam (voiced by Sonal Shah) are two bandits in Jalpur. They often try and steal items for their own benefit, usually wearing disguises while doing so, but are always foiled by Mira and her friends. Cheena called the bandits "misunderstood," saying that Manish usually wants to just get snacks and food, with robbery as a "means to an end," while Shah said that Poonam has a life goal to "be in control."
Deputy Oosha is a female cow who is a police officer in Jalpur.
Chotu (voiced by Allagio James) is Priya and Meena's younger brother and Mira's little cousin.
Detective Gupta (voiced by Iqbal Theba), a famous detective that sometimes helps Mira solve her cases.
