Paladin

The paladin is the most resilient companion that can help you. He is equiped with a buckler and can use the stomp ability.

Pros

 * Very resilient thanks to his buckler,
 * Can help you to get to certains places with his stomp ability.

Cons

 * Slow,
 * If you stay near him, he will spam his stomp ability that can destroy important resources and even force you to jump to unwanted places full of mobs and lead you to your death.

Tips
As long as you are in a lower position or at the same height than him, he will use his stomp ability to try to go ahead of you. Be very careful of where he stands, you can either use him to open chests and prisons or destroy blocks to help you go down easily but it requires some experience using him.

Do no try to assist him in combat unless you are facing a boss because he will keep using his stomp ability and will destroy things that you could have used or make you fall toward danger.