In this paper we give explicit formulas for differential characteristic classes of principal $G$-bundles with connections and prove their expected properties. In particular, we obtain explicit formulas for differential Chern classes, differential Pontryagin classes and the differential Euler class. Furthermore, we show that the differential Chern class is the unique natural transformation from (Simons–Sullivan) differential $K$-theory to (Cheeger–Simons) differential characters that is compatible with curvature and characteristic class. We also give the explicit formula for the differential Chern class on Freed–Lott differential $K$-theory. Finally, we discuss the odd differential Chern classes.

There is an equivalence relation on the set of smooth maps of a manifold into the stable unitary group, defined using a Chern-Simons type form, whose equivalence classes form an abelian group under ordinary block sum of matrices. This construction is functorial, and defines a differential extension of odd K-theory, fitting into natural commutative diagrams and exact sequences involving K-theory and differential forms. To prove this we obtain along the way several results concerning even and odd Chern and Chern-Simons forms.