Autobots:

Wolfang/Wolfe Prime (Wolf/Truck)
Inferno (Fire Truck)
Sideswipe (Lamborghini)
Sandstorm (Helicopter/Dune Buggy)
Broadside (Aircraft Carrier)
Roadbuster (Assault Vehicle)
Whirl (Helicopter)
Leadfoot (F1 Racer)
Topspin (Chevy Impala)
Twin Twist (Chevy Impala)
Mirage (Sports Car)
Flak (Anti Aircraft Truck)
Breakaway (Race Car)
Optimus Prime (Truck)
Bumblebee (Muscle Car)
Arcee (Motorcycle)
Ratchet (Ambulance)
Bulkhead (Armored Car)
Wheeljack (Sports Car)
Smokescreen (Sports Car)

Decepticons:

Magmatron (Cybertronian Jet/Tank)
Six Shot (Cybertronian Jet/Tank/Hovercraft/Gun/Lion)
Crowbar (Fighter Jet)
Brimstone (Harley Davids Chopper)
Mindwipe (Stealth Bomber)
Cannonball (Armored Car)
Payload (Armored Truck)
Swindle (Muscle Car)
Dropkick (Chevy Silverado)
Wreckage (Armored Vehicle)
Vortex (Helicopter)
Darksteel (Chevy Corvette)
Starscream (Fighter Jet)
Vehicrons (Muscle Cars)
Knock Out (Sports Car)
Breakdown (Armored Truck)
Dreadwing (Fighter Jet)

Diclonius:

Lucy/Nyu (Autobot Ally)
Nana (Autobot Ally)
Mariko (Decepticon Ally)

Humans:

Kouta
Yuka
Mayu
Dr. Kakuzawa
Director Kakuzawa
Prof. Kurama