Hild
Hild is Urd's mother, but Urd grew up apart from her. The biggest problem in their relationship is the fact that Hild is Daimakaicho, the Ruler of Hell. Being a goddess in her heart, Urd cannot accept that her mother is a demon. Still, they do have a lot in common, from personality traits to their clothing style. Urd would never admit that, but despite everything she still loves her mother. Did I say "mother"? Urd always refers to Hild as "that person" or "she". Talking about Hild's feelings, she loves her daughter dearly (in her own way) and wants to get her back to Makai. Well, I believe that motherly love is not the only motive, but still the main one.

Belldandy
Bell is Urd's younger half-sister. She is the Norn of Present. Urd's relationship with her is the most stable one. They really care about each other, though Urd's "care" might be harmful from time to time. She is very concerned about Bell's love life and often tries to "help" her, which causes numerous problems.

Skuld
Skuld is the youngest of three sisters and a Norn of Future. Their relationship with Urd is quite complex. Usually we see them arguing or even fighting. "Urudo no baka!" ("Urd, you're an idiot!") is one of Skuld's favourite phrases, while Urd always teases Skuld by calling her a kid. But despite that, they love each other very much. We can see it in "The Other Me" arc, where Urd summons World of Elegance, though she decided many years ago never to do that, only to save her younger sister or in "The Devil in Miss Urd" arc where Skuld spends the whole night looking for Urd who failed to return home in the evening.

Mara
Childhood friend, drinking buddy and eternal rival, Mara plays an important role in Urd's life. They used to spend a lot of time together before getting their current jobs, and still enjoy each other's company when it is possible. However, their friendship might look really weird as it was always mixed with rivalry and playing pranks on each other. But despite all that, they seem to share a strong bond.

Keiichi
Keiichi Morisato is Belldandy's boyfriend and just a normal mortal guy. For Urd he is a favourite target for her potion experiments and different pranks. However, actually she likes him as a person and would never do anything really harmful to him.

Peorth
First Class Goddess and Bell's rival, she visits the Morisato Residence from time to time. It doesn't seem that she and Urd were getting on too well back in Heaven. However, from Peorth's words we can see that she has always admired Urd's powers. Now, after the recent events in manga, they became friends. Though Urd's vision of friendship is quite unusual. Who else would seriously suggest shooting their friend from a giant cannon?

Troubadour
A Plum Tree Spirit Troubadour was Urd's first (and, probably, only) boyfriend. Selfish and jealous, he caused many problems and eventually left Urd "to follow his dream". He visited the Morisato Residence once just to accomplish another personal aim (and was baked by Urd's lightning several times). She still has some feelings for him, but it seems to be nostalgia, not love.