Many of the plots featured, included or revolved around spoofing particular things, including films such as Jurassic Park and It Came From Outer Space, and television programmes, including The Crystal Maze and the long-running televised fundraiser Comic Relief. There were also frequent references to other Robin Hood incarnations, most notably ITV's Robin of Sherwood (and in particular a parody of that series' Clannad soundtrack is lampooned in the episode "The Whitish Knight") and the contemporary film adaptation Robin Hood: Prince of Thieves.

• Maid Marian (Kate Lonergan): a passionate and idealistic freedom fighter. Although the most intelligent of the gang, she often lets her idealism blind her to the realities of situations, most notably the rest of the gang's incompetence. She also isn't very patient, but she will always defend anyone who she feels is wronged. She often has mud in her hair.
• The Sheriff of Nottingham (Tony Robinson): a devious plotter obsessed with collecting taxes. Given the first name 'Arnold' in the episode "Keeping Mum", ostensibly only to produce a later pun. While he is dedicated to stopping Marian, they sometimes find themselves in sympathy regarding the stupidity of everyone else.
• Robin of Kensington (Wayne Morris): an extremely vain tailor and a yuppie. Became seen as the leader of Marian's gang by accident, and remains because he sees it as a cool image to cultivate. His most significant contribution to the outlaws was nevertheless to insist they all wear green to "co-ordinate with the trees".
• Barrington (Danny John-Jules): the resident Rasta Merry Man, who would often rap during the episodes' songs. He often acts as a kind of semi omniscient narrator (in a similar manner to Alan-a-Dale in more traditional versions).
• Little Ron (Mike Edmonds): a very very short, insanely angry and violent Merry Man. Known to face the wrong way in ambushes. A parody of Little John.
• Rabies (Howard Lew Lewis): another Merry Man, very strong, and very stupid, although with his heart in the right place.
• King John (Forbes Collins, who also played John's brother, Richard the Lionheart, in the episode "The Whitish Knight", and Queen Eleanor, Guy of Gisbourne's mother): a violent and unstable monarch. He is narcissistic and insecure, and becomes very angry at the thought of being unpopular with the peasants. His brother, who was thought to be a wise ruler who would bring England back to a Golden Age, is identical.
• Gary and Graeme (Mark Billingham and David Lloyd): guards of the King's castle, and the Sheriff's henchmen. They're "bestest mates" and extremely affable, but in the tradition of clever villains with idiot sidekicks, not very clever most of the time. They are often very friendly with the Merry Men, who tend to return the sentiment - except when Gary and Graeme are doing what they're paid for. Graeme has a brother called Kevin. Graeme tends to enjoy things like torture and teasing the villagers more than Gary does, though Gary will challenge Graeme for the chance to do executions.
• Guy of Gisbourne (Ramsay Gilderdale): the king's wet-behind-the-ears nephew, village idiot, and mummy's boy. Aged 27 but acts like a 4 year old, has an imaginary friend and occasionally dresses in a tutu.
• "Rotten" Rose Scargill (Siobhan Fogarty): rival to Maid Marian and both Marian's best friend and worst enemy. She's Robin Hood's biggest fan.
• "Giggidy Cricket" (Bill Bailey): court jester for King John. Cameo appearance in only one episode.

Series One: 1989

1. How The Band Got Together:
2. Robert The Incredible Chicken:
3. A Game Called John:
4. The Miracle Of Saint Charlene:
5. The Sharp End of a Cow: Popular
6. The Whitish Knight:

Series Two: 1990

1. The Beast of Bolsover: Ambush!
2. The Worksop Egg Fairy:
3. Little Brown Noses:
4. Rabies In Love:
5. Rotten Rose (Part One):
6. Rotten Rose (Part Two):

Series Three: 1993

1. The Big Baby:
2. Driving Ambition:
3. Keeping Mum: Pierced
4. They Came From Outer Space
5. Robin and the Beansprout:
6. The Great Mud Harvest:

Christmas Special: 1993

1. Maid Marian and Much the Mini-Mart Manager's Son:

Series Four: 1994

1. Tunnel Vision: Double Trouble
2. Bouncy Sheriff:
3. Raining Forks:
4. The Wise Woman of Worksop:
5. Robin The Bad:
6. The Nice Sumatran:
7. Voyage to the Bottom of the Forest: