Note: For this list only the creators of the characters first appearances are listed. As with all comic book characters, Batman and his supporting cast have had several reinventions and different contributions from different writers. Theses include different iterations in different mediums that all have added different concepts to the overall mythology of the characters.
Obviously, their Bruce Thomas Wayne/Batman called only Bruce Wayne or Batman on screen. He made his first appearance in the comic story "The Case of the Chemical Syndicate" from Detective Comics #27 (May 1939) by writer Bill Finger and artist Bob Kane.
Richard John "Dick" Grayson/Nightwing, called only Dick Grayson or Nightwing on screen. He made his first appearance as the first Robin in the comic story "Robin the Boy Wonder" from Detective Comics #38 (April 1940) by writer Bill Finger, artist Bob Kane and illustrator Jerry Robinson. Whilst his Nightwing persona debuted in the comic story "The Judas Contract: Book Three - There Shall Come a Titan!" from Tales of the Teen Titans #44 (July 1984) by writer Marv Wolfman and writer/artist George Pérez.
Barbara Gordon/Batgirl who was originally created by, Batman Editor Julius Schwartz, and artist Carmine Infantino at the request of the producer of Batman (1966), William Dozier. She was later adapted into the comics starting the comic story "The Million Dollar Debut of Batgirl!" from Detective Comics #359 (January 1967) by writer Gardner Fox and artist Carmine Infantino.
Jason Peter Todd/Red Hood, called Jason Todd or Red Hood on screen. He was the second Robin in the comics and made his first appearance as Jason Todd in the comic story "Squid" from Batman #357 (March 1983). He later made his first as Robin in the comic story "The Joker Is Wild!" from Batman 366 (December 1983). The character was killed off in the comic storyline "Batman: A Death in the Family" from Batman #426-429 (December 1988-January 1989) only to be resected as Red Hood in the comic story "Under The Hood" from Batman #635-650 (February 2005-April 2006). The character was created by writer Gerry Conway and artist Don Newton.
Timothy Jackson "Tim" Drake/Robin, called Tim Drake or Robin on screen. He was the third Robin in the comics and made his first appearance in the comic storyline "Batman Year 3". His first appearance was as Tim Drake in Batman #436 (August 1989) and as the third Robin in Batman #442 (December 1989). The character was created by writer Marv Wolfman and artist Pat Broderick.
Alfred Thaddeus Crane Pennyworth, called only Alfred on screen, whom in his first appearances was called Alfred Beagle and first appeared in the comic story "Here Comes Alfred" from Batman #16 (April-May 1943) by writer Don Cameron and artist Bob Kane. The characters were later reintroduced as Alfred Pennyworth (complete with a different appearance) in comics continuity by writer Bill Finger and artist Jerry Robinson.
Gotham City Police Captain Renee Montoya. She was initially created for Batman: The Animated Series (1992) and was pre-emptively introduced into mainstream comics before the airing of her animated debut in 1992. She was created by writers Paul Dini and Mitch Brian and animator Bruce Timm. Her first comic appearance was in the comic story "The Return of Scarface (Part I of III): Mustache Pete is Dead!" from Batman #475 (March 1992).
Obviously, their Bruce Thomas Wayne/Batman called only Bruce Wayne or Batman on screen. He made his first appearance in the comic story "The Case of the Chemical Syndicate" from Detective Comics #27 (May 1939) by writer Bill Finger and artist Bob Kane.
Richard John "Dick" Grayson/Nightwing, called only Dick Grayson or Nightwing on screen. He made his first appearance as the first Robin in the comic story "Robin the Boy Wonder" from Detective Comics #38 (April 1940) by writer Bill Finger, artist Bob Kane and illustrator Jerry Robinson. Whilst his Nightwing persona debuted in the comic story "The Judas Contract: Book Three - There Shall Come a Titan!" from Tales of the Teen Titans #44 (July 1984) by writer Marv Wolfman and writer/artist George Pérez.
Barbara Gordon/Batgirl who was originally created by, Batman Editor Julius Schwartz, and artist Carmine Infantino at the request of the producer of Batman (1966), William Dozier. She was later adapted into the comics starting the comic story "The Million Dollar Debut of Batgirl!" from Detective Comics #359 (January 1967) by writer Gardner Fox and artist Carmine Infantino.
Jason Peter Todd/Red Hood, called Jason Todd or Red Hood on screen. He was the second Robin in the comics and made his first appearance as Jason Todd in the comic story "Squid" from Batman #357 (March 1983). He later made his first as Robin in the comic story "The Joker Is Wild!" from Batman 366 (December 1983). The character was killed off in the comic storyline "Batman: A Death in the Family" from Batman #426-429 (December 1988-January 1989) only to be resected as Red Hood in the comic story "Under The Hood" from Batman #635-650 (February 2005-April 2006). The character was created by writer Gerry Conway and artist Don Newton.
Timothy Jackson "Tim" Drake/Robin, called Tim Drake or Robin on screen. He was the third Robin in the comics and made his first appearance in the comic storyline "Batman Year 3". His first appearance was as Tim Drake in Batman #436 (August 1989) and as the third Robin in Batman #442 (December 1989). The character was created by writer Marv Wolfman and artist Pat Broderick.
Alfred Thaddeus Crane Pennyworth, called only Alfred on screen, whom in his first appearances was called Alfred Beagle and first appeared in the comic story "Here Comes Alfred" from Batman #16 (April-May 1943) by writer Don Cameron and artist Bob Kane. The characters were later reintroduced as Alfred Pennyworth (complete with a different appearance) in comics continuity by writer Bill Finger and artist Jerry Robinson.
Gotham City Police Captain Renee Montoya. She was initially created for Batman: The Animated Series (1992) and was pre-emptively introduced into mainstream comics before the airing of her animated debut in 1992. She was created by writers Paul Dini and Mitch Brian and animator Bruce Timm. Her first comic appearance was in the comic story "The Return of Scarface (Part I of III): Mustache Pete is Dead!" from Batman #475 (March 1992).
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