Interacting higher-spin gauge models including fermions are derived in the BRST-antifield formalism. We introduce massless totally-symmetric rank-n tensor-spinors, which is Dirac spinors in D-dimensional spacetime, as well as massless bosonic totally-symmetric tensors. By applying the BRST deformation scheme, the free higher-spin gauge theory is deformed such that the deformed action S would satisfy the master equation (S, S) = 0. We obtain interactions of two fermions and one boson, and those of a fermion and a boson in turn. They contain all orders in the deformation parameter and satisfy the master equation exactly. Employing the BRST deformation scheme built on AdS spaces, we derive interacting higher-spin gauge models including fermions on AdS spaces as well. We also consider the case that infinite series contained in our models are convergent.