There are currently only the two companions. You can, however, hire various henchmen to fill pretty much every roll possible. You get access to the henchmen very early in the game (assuming you don't already know this).
As to specific stats for the two companions;
Madora
Str 8
Dex 5
Int 5
Con 7
Spe 6
Per 5
Abilities:
Two Handed 2
Body Building 1
Men-at-arms 2
Talents:
Comeback Kid
Opportunist
What a Rush
Skills & Spells:
Battering Ram
Crushing Fist
Dust Devil
Helping Hand
Melee Power Stance
Jahan
Str 5
Dex 5
Int 8
Con 7
Spe 5
Per 6
Abilities:
Willpower 1
Aerotheurge 2
Hydrosophist 2
Blacksmithing 1
Crafting 1
Talents:
Elemental Affinity
Far Out Man
Scientist
Skills & Spells:
Minor Heal
Rain
Bitter Cold
Blitz Bolt
Head Vice
Teleportation
Both started at level 3 when I acquired them, I don't know if that changes based on your level.
