Voiced by: Junpei Takiguchi (1969 anime)
A Wandering Monk with a biwa, he accompanies the duo in their adventures.
- Detect Evil: Being blind doesn't stop him from detecting the energy of beings, especially demons. Hyakkimaru also shares this ability with Biwa-Hoshi.
- Exactly What It Says on the Tin: "Biwa-Hoshi" literally means "lute priest," and he goes unnamed in the Tezuka manga. Time will tell if this is true in the 2019 anime.
- Handicapped Badass: Is blind. Still capable of killing demons with one slice.
- Hidden Weapons: His biwa holds a blade.
- Master Swordsman: Despite his age, he is a very skilled swordsman.
- Nice Guy: He cares about the well being of Dororo and Hyakkimaru.
- Single-Stroke Battle: In the manga, he demonstrates to Hyakkimaru how to fight by slicing a fly in half.
Hyakkimaru's adoptive father. A doctor who specializes in prostheses, he gave Hyakkimaru a body, including Hyakkimaru's katana-concealing arms.
Osushi is a woman who prays for her brother's safe return.
- Ain't Too Proud to Beg: She begged Hyakkimaru to spare her brother's life even though he can't be saved or reasoning with, but he doesn't listen her and kills him.
- Flower in Her Hair: She wears a single flower on the right side of her hair.
- I Will Wait for You: She been waiting for her brother's return from the war for five years.
- Long Hair Is Feminine: She has long beautiful hair in the 1969 manga adaption.
Voiced by: Reiko Mutō (1969 anime), Yuki Makishima (Blood Will Tell), Eriko Matsui (Young Black Jack)
A young girl that the duo and Biwa-Hoshi meet while traveling. She lives in an abandoned house and takes care of a group of children who were affected by the war. She is the love interest of Hyakkimaru.
- Cool Big Sis: The children that she cares for view her as a very loving big sister.
- Cope by Creating: She sings so that she doesn't feel sadness even when she's selling her body.
- Dies Differently in Adaptation: Her death in Blood Will Tell is slightly different than in most versions, as there she's killed by one of the Fiends instead of by Daigo's soldiers.
- Defiled Forever: Mio reveals that she feels dirty for selling her body every night, even thinking her soul is dirty.
- Subverted in the 2019 anime. Shortly after Mio voices her concerns, the scene cuts to Biwa-hoshi's perspective showing her soul to be spotless. Later, Dororo reacts very poorly when Mio calls his mother "admirable" for never taking up sex work—a decision which led to her starving to death—and counters that Mio is just as (if not more) admirable for doing what most wouldn't to survive.
- Love at First Note: Her songs are very beautiful and Hyakkimaru first meets her by following the sound of her singing. Mio's songs are the only sounds that can calm Hyakkimaru after getting his ears back.
- Hooker with a Heart of Gold: To get money to sustain herself and the children she takes care of, she sells herself to soldiers at night as a job.
- Not What It Looks Like: She sells herself to multiple enemy camps, which leads to one of them thinking she's a spy.
- Nice Girl: She's a very sweet and kind person. When Hyakkimaru is attracted to her singing and follows the sound to her, she realizes that he's blind, but doesn't act in fear and is very friendly towards him in their first meeting. She also decides to let him, Dororo, and Biwa-Hoshi stay in her home.
- Stuffed into the Fridge: She's murdered by soldiers who mistake her for a spy, which triggers Hyakkimaru into an Unstopabble Rage.
- Too Good for This Sinful Earth: Too good indeed... She's one of the most kind-hearted and selfless characters in the story. And her kindness is repaid with her being killed.
- Tragic Dream: She wanted to grow a large rice paddy so that she and the children would no longer starve. And she had just purchased seeds the day they were all killed.
Hibukuro and Ojiya
Voiced by: Kenta Miyake (Hibukuro, 2019 anime), Ayumi Fujimura (Ojiya, 2019 anime)
- Blade on a Stick: Hibukuro's personal weapon in the 2019 adaptation, so much so that a samurai actually recognized him because of the weapon.
- Establishing Character Moment: In the manga, the group capture some samurai. Ojiya goes to feed Dororo, and one samurai begs for mercy by saying that he has a child Dororo's age at home. While still breastfeeding, Ojiya decapitates the samurai and proclaims that, "my mother, brothers, and two eldest children died to samurai like you."
- It's Personal: Ojiya has no mercy for samurai, given that most of her family had been killed in war circumstances either directly or indirectly caused by them. Hibukuro also loathed samurai and created a bandit group made solely of disgruntled farmers just to raid them.
- Good Parents: They both loved Dororo and despite being down on their luck later on, they focused on keeping him alive.
- Outliving One's Offspring: Their two eldest children both died before the flashback.
- Silk Hiding Steel: While a dutiful wife and mother, Ojiya also had the means to protect her household as well and knew how to fight in the manga. Less so in the 2019 version.
- Taking You with Me: After Hibukuro is fatally stabbed, he grabs his murderer and gives him a bear hug so the blade pieces him too.
- Treasure Map: Hibukuro tattoo his wifes back the first half of the map before his death.