Joan

Joan is a stable girl who believed that women could be knights too. She lives in the West with her father who doesn't think that women can hold a sword. Her mother died. She taught herself how to fight with a sword.

In episode 5, That Sinking Feeling, Joan steps up to serve the two Queens, Queen Lavinia, and Queen Atossa when Sir Percy and his knights don't want to risk their lives going into the forest. Joan hides her face until she shows her worth. She asks any knights around if they are brave enough to fight. Sir Percy accepts and tells her that no man had bested him yet.

"'Well, Captain, I'll try not to hurt your pride too much,'  Joan says, and they battle. Sir Percy yields and Joan then shows her face. She is recruited by Queen Lavinia and Queen Atossa. She gets her own army: The Army of Princesses, where she takes all the girls that want to marry Prince Rupert."

When her Army of Princesses didn't believe her that they were going to have to fight a dragon, Joan told them this.

"Now listen up, 'cause we don't have much time, I know you're scared, and I know you weren't trained for battle. I wasn't trained either. I taught myself because my father didn't think a girl could handle a sword. But I can. And so can you. All your lives, you've been told to smile, and look cute, and flirt, because you only had one job: to land a husband. Well, today you have a new job, a better job. Today, your job is to defend your Queen. Today your job is to rescue the Prince. Today your job is to save our kingdom. And you can do it if we work together. Because together, we are stronger than anything this forest can throw at us. Yesterday, the most any of you could have been a princess. But today, today you all are warriors! Now say it back to me, what are you?" "Warriors!" "What are you?" "Warriors!!" "What are you?!" "WARRIORS!!!" "Then charge!!" Joan and her Army of Princess won the fight.

Trivia

 * Joan's horse is named Eurphrates.
 * Somewhere between season 2 and 3, Joan and Lady Cecily starts dating, but they break up before the start of Season 3. They go back together at the end of the series.