So... you asked about "humans". Accordingly, per JJH's answer noting the important effect of vocal chords, I'm going to assume that we're talking about human vocal chords (or at least similar capabilities) and are mainly focused on the limitations due to teeth and jaws. (I'm also going to assume a fairly mobile tongue; otherwise, consonants such as we know them are going to be an issue.)
Honestly, this really depends on whether you're actually asking about "humans" (and/or for some reason want to parallel human — and in particular, European/American — language development) as opposed to trying to create a language for a totally different sapient species, in which case humans might not even recognize their language as such. Still, your audience is human, so having something relatable may make sense.
With that said, I'd like to offer the phoneme set I came up with from my own tinkering before seeing this question. This is mostly based on my best guess what limited lip mobility (including inability to fully close the lips while speaking) would do to a language that humans could still speak and recognize. Also, I was approaching this from a perspective of trying to avoid species-specific noises, i.e. something that could be a common tongue in a world of anthropomorphic animals of many species (e.g. Zootopia). One thing this doesn't necessarily account for is the effect of larger teeth, although I don't think that will be severe. If you want to explore that, find yourself a set of fake vampire teeth 🙂.
Ahem. Without further digression:
Vowels
- Open
a
( ɒ ): lock
e
( e ): lake
- Forward
i
( ɪ ): lick
y
( i ): leak
- Round
o
( ʊ ): look
u
( u ): luke
You might be able to add more vowels ([ɔ] in particular), although it may start becoming difficult to tell them apart, especially if you have regional accents ([ɯ] and [ʊ] for example are very similar). Also, I was somewhat trying to keep the set minimal, as that is beneficial for a language shared by many species.
I'm also not considering dipthongs separately, so e.g. [w] and [j] are "on" the chart, but would be represented as [u]+[ɒ] and [i]+[ɒ], respectively.
Consonants
- Palato-alveolar
c
( tʃ ): chock
j
( dʒ ): jock
ch
( ʃ ): shock
jh
( ʒ ): jacques
- Dental
t
( t ): ten
d
( d ): den
th
( θ ): thick
dh
( ð ): then
- Stop
k
( k ): ruck
g
( g ): rug
- Fricative
s
( s ): sue
z
( z ): zoo
- Others
h
( h ): hick
l
( l ): lick
n
( n ): nick
r
( ɹ ): rick
One of my additional objectives was being able to write this language phonetically in ASCII (i.e. using only the English letters A-Z); I've given both that representation as well as the IPA equivalents. Normally, you wouldn't have a c
or j
immediately followed by a distinct h
, because that combination is quite hard to pronounce without an intervening vowel. However, if really needed, this could be written with an apostrophe, e.g. taj'ha
.