On October 23, 2019, she announced her marriage to fellow voice actor, Ryōta Ōsaka. Numakura gave birth to their first child, a boy, on December 19, 2021.
Roles include:
- Akane Hiyama in Love Tyrant
- Akira Hino in Adachi and Shimamura
- Alfreed in The Heroic Legend of Arslan
- AN-94 and FP-6 in Girls' Frontline
- Aoi Sakurai in Rail Wars!
- Arata Kohata in Black★Rock Shooter
- Arthur de Richemont in Ulysses: Jeanne d'Arc and the Alchemist Knights
- Asano-Senpai in Natsuiro Kiseki
- Ashley Ono in A Sister's All You Need
- Aya "Ayame" Fujisawa in Gundam Build Divers
- Beelzebub in I've Been Killing Slimes for 300 Years and Maxed Out My Level
- Benson, Dorsetshire, Surcouf and Sovetskaya Rossiya in Azur Lane
- Brandish μ and Grammi in Fairy Tail (debuting in Fairy Tail: Dragon Cry)
- Brenda Aisaki in A Salad Bowl of Eccentrics
- Circe Steinhoff in Schwarzesmarken
- Clarion in Pandora in the Crimson Shell: Ghost Urn
- Einkk in Goddess of Victory: NIKKE
- Hayashi in The Kawai Complex Guide to Manors and Hostel Behavior
- Hibiki Ganaha in The Idolmaster (debut role)
- Chibiki in the Puchimasu! subseries
- Hikari in Mary Skelter: Nightmares
- Hikaru Hoshikaze in Magika Swordsman and Summoner
- Hinata Sakaguchi in That Time I Got Reincarnated as a Slime
- Hunter in Bikini Warriors
- Karin Kakudate in Blue Archive
- Kenji in Hanamaru Kindergarten
- Kiri in Konohana Kitan
- Kiyose Enami in Slow Start
- Kohaku in Dr. STONE
- Kokoro Yanagiya in Yumeutsutsu Re:Master
- Lancelot in Sakura Wars (2019)
- Machi Tokiwa in Hanayamata
- Malviola in World Flipper
- Mamiko Oumae in Sound! Euphonium
- Mary Steinberg in No Guns Life
- Mina in The Ancient Magus' Bride
- Mitsuki Mononobe in Unlimited Fafnir
- Moe Nikaidō in Kiss and White Lily for My Dearest Girl (drama CD)
- Nanami Tokou in Brynhildr in the Darkness
- Narberal Gamma in Overlord
- Otoya Takechi in Akuma no Riddle
- Paula McCoy in Nisekoi
- Pieck Finger/Cart Titan in Attack on Titan
- Retoree in in Show by Rock!! (Initially replacing Eri Kitamura in the anime due to Kitamura's hiatus, but eventually started voicing Retoree in the game itself in 2018 and Numakura continues to voice her in Fes A Live!)
- Rie Sawada in I Got a Cheat Skill in Another World and Became Unrivaled in the Real World, Too
- Riko Kurahashi in Love Lab
- Rio Nakamura in Assassination Classroom and Koro-Sensei Quest!
- Rion Kugayama in Tokyo Xanadu
- Ripple/Kano Sazanami in Magical Girl Raising Project
- Rita Krugel in If It’s for My Daughter, I’d Even Defeat a Demon Lord
- Rose Red and Chaos 13th Witch in Grimms Notes
- Rosetta in Another Eden
- Saya Endou in Dagashi Kashi
- Takao in Arpeggio of Blue Steel: Ars Nova
- Tama in Fuuka (By extension, she sings the series' opening theme "Climber's High
") - Tamaki Miyasaka in Princess Connect! Re:Dive
- Tenebria and Specter Tenebria in Epic Seven
- Tokito Mother (Unnamed Parent) Demon Slayer: Kimetsu no Yaiba
- Tomoe Kamita in Seiren
- Trista, Tricia, and Trinnia in Pokémon Masters
- Tsubame Kamoi in UzaMaid: Our Maid Is Way Too Annoying!
- Yuki Hanzoumon in Release the Spyce
- Yumi Iguchi in Shirobako
- The speaking voice for Yurika Todo in Aikatsu!
