In fantasy books, I try not to imagine characters too realistic; I like to give them some qualities of fantastical designs.
I always imagined Bluestar with her usual gray-blue fur, a silver muzzle, and a silver fleck on her forehead shaped similar to a star (this is before I knew that -star was a leader suffix). I've always imagined her this way ever since, though, haha.
Tallstar I imagined to be a very tall cat, whose limbs are longer than normal, especially his tail. His fur is of course black and white as he's depicted in artworks. I always liked the white spot on his back and the white bit on his tail.
Graystripe I thought was just a lighter gray tabby with darker gray stripes. I didn't really like how he's depicted in manga pictures I've seen. It's kind of odd.
Tigerstar I pictured to be really muscular, with thicker legs and a broader face and chest. He kind of looks like a brute, a big dark brown tabby cat with the scar on his face and his torn V-shaped ear. He also has a stern face, probably permanently in a disgusted frown.
Firestar and Sandstorm are similar looking in my mind, but Sandstorm is a much lighter ginger tabby color than Firestar.
Can't really think of anymore at the moment, but these are the ones that I think about a lot when reading the series, lol.