King Vegeta - He was the King of course of the Planet Vegeta where little Vegeta was born on.
Japanese Voice Actor- Kishino Yukimasa(no pic yet)

Buruma - At the end of DBZ Buruma falls in love with Vegeta and had 2 children Trunks and Bra. Japanese Voice actor for Buruma Click here to see her pic

Trunks - When he first appeared he had come from the future and nobody knew he was Vegeta and Bulma's son except for Goku and Piccolo. (He told Goku and Piccolo over heard). He is very powerful (almost as powerful as Goku).
Japanese Voice Actor for Trunks Click to see his pic

Bra - Is the daughter of Vegeta and Bulma.(no info yet)