• "There was a yeoman with him at his side, No other servant; he chose to ride." Pg 147 line 103 (indirect)
—although directly stating the Yeoman travels alongside the knight, this passage implies the Yeoman was the only person in the knight's eyes worthy of the job
"This Yeoman wore a coat and hood of green, and peacock feathered arrows, bright and keen and neatly sheathed, hung at his belt the while" pg 147 line 105 (direct)
"His head was like a nut, his face was brown. He knew the whole of woodcraft up and down" pg 148 line 111 (direct) — closely cut hair and a tan complexion suggest an outdoor lifestyle
"A saucy brace was on his arm to ward it from the bow string, and a shield and sword hung at one side, and at the other slipped a jaunty dirk, spear shaped and well equipped." Pg 148 line 113 (direct) — he is always well prepared for each task of his duty, keeping all required equipment on hand
"A medal of St. Christopher he wore of shining silver on his breast" pg 148 line 117 (indirect) St. Christopher is the saint of safe travel and a martyr who went on a journey to enlightenment. People wear St. Christopher medals to bless them with safety. — he is a religious man, he cares about the well being of the group. This implies the Yeoman is most likely actually on the journey for self enlightenment.
"He was a proper forester, I guess." Pg 148 line 121 (indirect) — there are no ironic notes or criticism in Chaucer's description of Yeoman. Generally the response is positive. The "I guess" MAY reveal Chaucer's mistrust and uncertainty about Yeoman or his dislike with not having any negative comments towards him.
From him, we learn two things about the Knight: 1) that he's not high-maintenance, because he travels with only one servant, and 2) that he owns some land – hence, his need for a forester.
•"The Miller was a chap of sixteen stone, A great stout fellow big in brawn and bone." Pg 159 line 561 direct - "His beard, like any sow or fox, was red and broad as well." Pg 159 line 568 direct
"At it's very tip, his nose displayed a wart on which there stood a tuft of hair, red as the bristles in an old sow's ear." Pg 159 line 570 direct - "His mighty mouth was like a furnace door." Pg 159 line 575 indirect
Most of the description we get of the Miller is intensely physical and kind of disgusting. He's huge, with a red beard, a gaping mouth, and a wart on his nose with a tuft of hairs growing on it
"He could go and win the ram at any wrestling show." Pg 159 line 564 indirect — while directly stating he could always win the ram (the top prize), one must deduct for themselves the massive physical strength revealed that the Miller has
— the Miller is boastful and quite full of himself. One might also take from this that the Miller is sort of idiotic, and Chaucer takes opportunity here to make fun of him in saying he would slam his own head into a door!
In every chance he gets, Chaucer displays his dislike for the Miller. Here implying he has a filthy mouth and mind with no filter on either to decide what is appropriate and what is not. He cannot tell a simple tale without making it completely inappropriate and impure.
Boastful, Boisterous — he's loud, self centered, and egotistical. The Miller loves himself and loves to show off his gross brute strength to anyone he can.
The Miller is a drunk who believes he is invincible and untouchable. He is completely in love with himself and doesn't have any remorse for his huge ego or what comes out of his big mouth!