Successfully complete the indicated task in Story mode on the Normal or Hard difficulty to unlock the corresponding character:

Civilian Blimp: Harm a civilian blimp when they appear in Stage 10 or 14.
Civilian Child: Harm a civilian child when they appear in Stage 10 or 14.
Civilian Elder: Harm a civilian elder when they appear in Stage 10 or 14.
Civilian Wimp: Harm a civilian wimp when they appear in Stage 10 or 14.
Civilian Woman: Harm a civilian woman when they appear in Stage 10 or 14.
Cyclops: Defeat Cyclops in multiple stages.
Earth Spirit: Defeat Earth Spirit in Stage 24.
Gambo: Defeat Gambo in Stage 9.
Gargoyle: Defeat Gargoyle in Stage 19, 23, or 24.
Gash: Defeat Gash in Stage 11.
Giant: Defeat Giant in Stage 19.
Glute: Defeat Glute in Stage 9.
Goblin: Defeat Goblin in multiple stages, but mainly Stage 3.
Golden Silver: Defeat Golden Silver in Stage 30.
Golem God: Defeat Golem God in multiple stages, but mainly Stage 5.
Han the Hero: Defeat Undead Rogue in Stage 8 while playing as Han.
Kanon: Defeat Kanon in multiple stages.
Katrina: Defeat Katrina in Stage 3.
Loper: Defeat Loper in Stage 23 or 24.
Macho: Defeat Macho in Stage 9.
Mid: Defeat Mid in Stage 3.
Proto Silver: Defeat Proto Silver in Stage 4.
Rebel: Defeat Rebel in Stage 5.
Royal Blade: Defeat Royal Knight in multiple stages.
Royal Knight: Defeat Royal Knight in multiple stages.
Royal Mage: Defeat Royal Mage in Stage 2.
Royal Mech: Defeat Royal Mech in multiple stages.
Royal Purger: Defeat Royal Purger in multiple stages.
Serena: Successfully complete the game.
Skeleton: Defeat Skeleton in Stage 2.
Sky Spirit: Defeat Sky Spirit in Stage 29.
Sky Warrior: Defeat Sky Warrior in Stage 29.
Super Zur: Defeat Super Zur in Stage 25.
Undead Rogue: Defeat Undead Rogue in Stage 8.
Valgar: Defeat Valgar in Stage 28.
Wolf: Defeat Wolf in Stage 3.
Xenovia: Defeat Xenovia in Stage 24.
Zombie: Defeat Zombie in Stage 25.
Zur: Defeat Zur in Stage 5 or 25.