For the allowed characters you can use
^[a-zA-Z0-9~@#$^*()_+=[\]{}|\\,.?: -]*$
to validate a complete string that should consist of only allowed characters. Note that -
is at the end (because otherwise it'd be a range) and a few characters are escaped.
For the invalid characters you can use
[<>'"/;`%]
to check for them.
To combine both into a single regex you can use
^(?=[a-zA-Z0-9~@#$^*()_+=[\]{}|\\,.?: -]*$)(?!.*[<>'"/;`%])
but you'd need a regex engine that allows lookahead.