The dilligent and learned maesters at the excellent Game of Thrones wiki have documented everything you could ever need to know about Game of Thrones. This includes every character who has appeared in the show. From Daenerys Tagaryen to Othell Yarwyck to "Dwarf Hunter 2". If they speak a line or even if they are just an interesting corpse they will be on the site.
This visualisation shows them all on the one page in beautiful grid form. For as Petyr Baelish says "Chaos is a ladder. But order is a grid." Or he would have if he wasn't too busy plotting his own route to the Iron Throne.