Following are some pictures I have found on Pinterest which might give you a vivid idea of how the characters look.

I do not own the pictures. Credits for the pictures go to the respective owners.

Alana Thornheart

(Please imagine her hair as black and not dark brown as shown here)

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Prince Leon Heirora

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Dragonesian King Jocasta Heirora

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Cynthia Kiorsa

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Cora Kiorsa (Cynthia's sister)

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Lena Marcuse

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Lucian Haroise

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Prince Eluscan Heirora