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Small One: He is a gentle donkey in his prime. Long years of working hard, have made him weak. Though he eats as much as the other donkeys. For an odd reason, his right ear never likes to stay straight up, giving him that "Disney cuteness" rating. He has strong feelings for the Boy and would give his life to help him, as he almost does at the tanner's. Though he loves the boy, he accepts what his father tells him.
Boy: Yes, believe it or not, that's pretty much his name throughout the whole picture, that and Son. Small One is the only character with a spoken name at all. He is about 10 years old, roughly. Although he takes care of all the donkeys, Small One is his favorite. I would guess that the boy has had Small One since birth and they grew up together. When his father tells him to sell Small One, the boy is devastated. Soon he accepts it. He reassures Small One will have a gentle and loving master and he does.
Father: The boy's father is not seen much at all. He is the one who sends the boy to sell Small One. He loves his son and deep down, he loves Small One too, but he knows they cannot afford to keep a donkey that cannot carry a large load. He lets his son sell Small One, with very little resistance.
Three Merchants: These three men, one tall and skinny, one medium and skinny, and the last short and round, walk around the marketplace taking money from people, "for the bank". They are all colorful, but like most of the characters (except Small One and Boy), they aren't seen much at all. They are the ones who point the boy to the auctioneer.
Auctioneer: He auctions horses in the market. At first he in angered that the boy brings Small One onto the stage and slightly embarrasses him, but when the boy tells him what Small One can do, the man decides to have some fun. He mocks and almost injures Small One with his weight. But when Small One sees his best friend pushed aside, he regains his strength and throws the man off of his back. The auctioneer chases them away.
The potter: A potter who refuses to buy Small One
The guard: He is the one who sends the boy and Small One to the awful tanner's.
The tanner: Obviously, he does not care for animal's lives, since he wants to make leather out of Small One.
The baker: A small baker who refuses to buy Small One due to his wives size...he ends up "buying" a horse, recluctantly.
The baker's wife: She is a round tall woman eating sweets (that is all you see of her).
Man1 and Man2: Two men who auction for a horse. (pics not available at this time...their camera shy ;)
The three donkeys: Small One's barn mates. Like most donkeys, stubborn and short tempored. They seem jealous that the boy spends more time with Small One then them.
Joseph: His name is never mentioned in the entirity of the film, but you can pretty much guess that it is him who buys Small One in the end. The line "I need a gentle donkey to take my wife to Bethlemhem." says it all.
Mary: You only see the silohette of her riding on Small One, with Jospeph leading him away, towards Bethlehem.