Will:

The book is written from Will's point of view and he is the tripods' primary target. He is always the one on which the trouble falls.

Henry:

Even as Will's cousin, Henry is always getting in fights with Will, but they have to work together to get to the White Mountains!

BeanPole:

BeanPole is called BeanPole by Will and Henry, but his name is actually ZhanPole. He is found later in the story and is the smartest of them all!