Imp
The Imp is the first demon warlock characters are able to summon; every warlock character will know the "Summon Imp" spell when created. The Imp can attack enemies at range with a Firebolt spell; it also has the ability to increase the stamina of the warlock and his group members and to remove harmful magic effects from friendly targets.
Voidwalker
At level 8, a warlock can train the "Summon Voidwalker" spell. The Voidwalker can act as a tank for the warlock, keeping enemies distracted while the warlock kills them; additionally, the warlock may choose to sacrifice a portion of the Voidwalker's health to create a protective shield around himself, absorbing a limited amount of damage and allowing uninterrupted spellcasts while the shield holds.
Succubus
A warlock can learn how to summon a Succubus at level 20. The Succubus can damage the warlock's enemies in melee range with the Lash of Pain spell; additionally, the Succubus can turn invisible, knock enemies back and seduce a humanoid enemy, removing both itself and the enemy from the fight until the enemy suffers damage.
Felhunter
When reaching level 30, a warlock can learn how to summon a Felhunter. The Felhunter can damage the warlock's enemies in melee range with the Shadow Bite ability. The Felhunter can also remove beneficial magic effects from enemies and harmful magic effects from friends, interrupt an enemy's spellcasts and increase the mana regeneration and maximum mana of the warlock and his group members.
Felguard
Warlocks who choose to specialize in the Demonology talent tree will immediately learn how to summon a Felguard. The Felguard is a demon that deals strong melee damage; it may also charge at enemies and stun them, as well as deal damage to all enemies simultaneously.
Doomguard and Infernal
A warlock can learn how to summon an Infernal at level 50 and a Doomguard at level 58. Both of these demons may be summoned once every 10 minutes; only one of them may be summoned at a time, and whichever demon is summoned will only assist the warlock for a short time. The Doomguard deals strong single-target damage, while the Infernal deals strong damage to all enemies around it; both demons will choose targets that are affected by the warlock's Bane of Agony or Bane of Doom spells.