Lucifer Morningstar/Relationships

Charlotte Magne
Charlie is Lucifer's daughter. In the pilot, it is implied that Lucifer does not believe in his daughter's plan to rehabilitate sinners, with Charlie saying "I think Dad was right about me," when calling Lilith about her failed interview. According to Faustisse, despite having immense love for his family, Lucifer is not a good father. Nonetheless, Charlie did take his words of dealing with unscrupulous folk to heart, such as Alastor.

Lilith Magne
Lilith is the Queen of Hell, married to Lucifer. According to Faustisse, Lucifer and Lilith are absolutely in love with each other. Though little is known about their actual relationship outside of being married.

Razzle and Dazzle
Razzle and Dazzle used to be dolls that Lucifer has gifted to Charlie during her childhood. As Charlie grew older, Lucifer decided to bring the two to life to act as her personal bodyguards. Razzle and Dazzle are protective of Charlie and the rest of her family.

Vaggie
Although the two have yet to interact onscreen, Lucifer is shown to have enough trust in Vaggie to let her be Charlie's girlfriend.

Alastor
Lucifer has yet to physically interact with Alastor. According to Vivziepop, Alastor would kind of like him. In one of Viv's streams, Viv mentioned Alastor would like Willy Wonka because he's a jerk, and then she said that Lucifer has a lot in common with Willy.

More than that, Vivziepop and Dave said that Alastor in no way would be afraid of Lucifer, though Lucifer may be an intimidating character, there's mutual respect going on between them.