I gathered some info on available companions:
- Sirius Dark [+3 attack/+1 morale of undead]
- Lucius [+100% attack and defense of dryads, feries, demonesses]
- Almaran [double crit chance against demons and undead]
- Kulukhan [+1 initiative and speed of orcs]
- Captain Kidd [+300 leadership/+1 speed and morale of pirates,sea dogs, marauders, robbers, devilfish]
- Torburn [+20% crit chance for archers]
- Illiar [+4 intellect/mana restoration after battle]
- Artang [+3 defense and +1 initiative and speed of humans/summons orc stack equal 1/2 hero's leadership]
- Hagrid [+50% health and 10% resistance of thorns and ents/summons plant stack]
- Amber [+1 initiative and +50% dmg of assassins/+10% crit chance/attacks enemy during battle]
- Torre [+50% lightning damage/+5 defense of mages/summons magic sword for 9 rounds]

I hope I didnt missed someone