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The Changeman are all former members of the various branches of Japanese military who were hand picked by the Earth Defense Force to combat Gozma. As the Changeman, they derive their powers from a mysterious energy called Earth Force (アースフォース, Āsu Fōsu), which gives its users the power to protect Earth from any threat to it.

Hiryuu Tsurugi/Change Dragon (剣 飛竜／チェンジドラゴン, Tsurugi Hiryū/Chenji Doragon): Hiryu was previously an officer from Kōchi Prefecture in the Japanese Air Force before becoming Change Dragon, colored red. Tsurugi is a passionate leader with a kind heart, often getting so focused on a task that he does not think of the possible danger he puts himself in to complete it. He is a sharpshooter and a skilled motorcycle driver. He was also his high school's best baseball player until an accident forced him to quit the game. As Change Dragon, Hiryu is a master of airborne attacks as well as close-range and long-range attacks, even adding some of his baseball skills into his techniques.

Shou Hayate/Change Gryphon (疾風 翔／チェンジグリフォン, Hayate Shō/Chenji Gurifon): Sho was previously a Japanese Army Ranger from Aomori Prefecture before becoming Change Gryphon, colored black. He's a narcissistic womanizer, often combing his hair before entering battle, though it's an exterior for his kind personality.

Yuuma Ozora/Change Pegasus (大空 勇馬／チェンジペガサス, Ōzora Yūma/Chenji Pegasasu): Yuma was previously a Branch Officer in the Japanese Army before becoming Change Pegasus, colored blue. He serves as the group's tech member with the ability to tap into superhuman strength. As the youngest, he tends not to respect authority much and often associates himself with the children that the Changemen help. Yuma also has a dream to open up a tonkatsu shop after getting enough money to start it up.

Sayaka Nagisa/Change Mermaid (渚 さやか／チェンジマーメイド, Nagisa Sayaka/Chenji Māmeido): Sayaka was previously a task force officer in the Japanese Army before becoming Change Mermaid, colored white. She is the team's strategist, and sometimes focuses too much on the etiquette of her fellow Changemen. However, Sayaka has a loving and caring aspect of her seen in animals and her feelings for Hiryu.

Mai Tsubasa/Change Phoenix (翼 麻衣／チェンジフェニックス, Tsubasa Mai/Chenji Fenikkusu): Mai was previously a spy for the Japanese Army before becoming Change Phoenix, colored pink. Like Hiryu, she is also skilled at motorcycle driving. Though appearing to be a tomboy who is rough around the edges, Mai is a caring figure and good friends with Sayaka despite their differences.