Andy Trudeau - (Ted King) (Season 1)

Andy is the sisters' childhood friend and Prue's love interest. He serves as the sisters' initial connection to the police force once he learns of the girls' activities, as well as the first conflict between the girls' secret and normal lives. The demon Rodriguez, kills Andy while he is trying to protect the girls in the finale of season one.

Darryl Morris – (Dorian Gregory) (Seasons 1–7)

Darryl, who is Andy's partner, takes over the role as the Halliwells' police connection after Andy's tragic death. He continues to cover up for the sisters once he learns their secret, even after the events which lead to him almost being executed through a lethal injection, until his wife later forces him to move to another state.

Leo Wyatt – (Brian Krause) (Recurring Season 1; Seasons 2–8)

Leo is the sisters' Whitelighter in the beginning, and soon becomes romantically involved with Piper. Leo's magical promotions provide the show's portrayal of a supernatural ladder of success and struggle between career and family. His relationship with Piper is the first of many conflicts between the Halliwells and the Elders.

Dan Gordon – (Greg Vaughan) (Season 2)

Dan moves into the house next door with his niece, Jenny, and instantly falls in love with Piper. They temporarily date, but Dan can not take the place of Piper's first love, Leo. He later moves away, at the end of season two.

Cole Turner – (Julian McMahon) (Seasons 3–5, cameo in 7)

Cole is Phoebe's first husband; he is a half-demon, creating situations over which the sisters clash. He is originally a powerful villain, later taking other forms and roles throughout his character's history. After his final vanquish at the hands of the sisters, he continues to watch over Phoebe, silently and unseen.

Adult Chris Halliwell – (Drew Fuller) (Season 6, cameo in 5, 7 and 8)

Chris, Piper and Leo's unborn son, came from the future to help defeat the Titans and save Wyatt from turning evil. His adult form dies at the hands of Gideon. Due to a change in the timeline, he later reappears in the series finale.

Billie Jenkins – (Kaley Cuoco) (Season 8)

Billie is Paige's charge. While at first over-confident in her abilities, she eventually becomes a student of the sisters, helping them to maintain their normal lives. After being swayed by her sister to betray the Halliwells, she eventually sides with them in the series finale.