DUKE OF BEDFORD, uncle to the King, and Regent of France
THOMAS BEAUFORT, DUKE OF EXETER, great-uncle to the king
HENRY BEAUFORT, great-uncle to the King, BISHOP OF WINCHESTER,and afterwards CARDINAL
JOHN BEAUFORT, EARL OF SOMERSET, afterwards Duke
RICHARD PLANTAGENET, son of Richard late Earl of Cambridge,
afterwards DUKE OF YORK
EARL OF WARWICK
EARL OF SALISBURY
EARL OF SUFFOLK
LORD TALBOT, afterwards EARL OF SHREWSBURY, Constable of France
JOHN TALBOT, his son
EDMUND MORTIMER, EARL OF MARCH
SIR JOHN FASTOLF, a cowardly soldier
SIR WILLIAM LUCY
SIR WILLIAM GLANSDALE
SIR THOMAS GARGRAVE
The historical Fastolf was one of the only English soldiers not to be captured or killed, though there isn’t any particular evidence for the extreme cowardice he shows in this play. 
 His name seems to have served as the inspiration of a much bigger (in every sense) Shakespearean character, Sir John Falstaff: 

Henry VI Part 1 Characters of the Play