Here's a detailed Game of Thrones family tree for the major noble houses:
House Targaryen
Aerys II (The Mad King) + Rhaella
Rhaegar Targaryen (Married Elia Martell; later Lyanna Stark)
Rhaenys Targaryen (Daughter with Elia)
Aegon Targaryen (Son with Elia, killed as a baby)
Jon Snow (Aegon Targaryen) (Son with Lyanna Stark, raised as Ned’s bastard)
Viserys Targaryen (Killed by Khal Drogo)
Daenerys Targaryen (The last Targaryen claimant)
House Stark
Rickard Stark
Brandon Stark (Killed by Aerys II)
Eddard (Ned) Stark + Catelyn Stark (née Tully)
Robb Stark (King in the North, married Talisa, killed at Red Wedding)
Sansa Stark (Married Tyrion Lannister, later Queen in the North)
Arya Stark (Trained as an assassin, traveled west of Westeros)
Bran Stark (Became the Three-Eyed Raven and later King of Westeros)
Rickon Stark (Killed by Ramsay Bolton)
Benjen Stark (Joined Night’s Watch, later became undead)
House Lannister
Tytos Lannister
Tywin Lannister + Joanna Lannister
Jaime Lannister (Had a secret incestuous relationship with Cersei)
Cersei Lannister + Robert Baratheon (Secretly had children with Jaime)
Joffrey Baratheon (Cruel king, poisoned)
Myrcella Baratheon (Poisoned in Dorne)
Tommen Baratheon (Became king, committed suicide)
Tyrion Lannister (Outcast, became Hand of the King)
House Baratheon
Steffon Baratheon
Robert Baratheon + Cersei Lannister
Joffrey, Myrcella, and Tommen (not truly his children)
Stannis Baratheon + Selyse Florent
Shireen Baratheon (Burned alive by Melisandre)
Renly Baratheon + Margaery Tyrell (Claimed the throne, killed by shadow assassin)
House Greyjoy
Balon Greyjoy
Theon Greyjoy (Raised by Starks, became Reek, later redeemed himself)
Yara Greyjoy (Became ruler of the Iron Islands)
House Tyrell
Mace Tyrell
Margaery Tyrell (Married Renly, Joffrey, and Tommen; killed in wildfire explosion)
Loras Tyrell (Knight, captured, died in wildfire explosion)
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