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| Character: | Actor: | Notes: |
| Roj Blake | Gareth Thomas | Seasons 1-2 plus ep. Terminal + Blake |
| Kerr Avon | Paul Darrow | In all but the first episode |
| Vila Restal | Michael Keating | The only character in every episode |
| Jenna Stannis | Sally Knyvette | Seasons 1-2 |
| Cally | Jan Chappell | Seasons 1-3 (from Time Squad) died offscreen in Rescue |
| Olag Gan | David Jackson | Seasons 1-2 died in Pressure Point |
| Dayna Mellanby | Josette Simon | Seasons 3-4 |
| Del Tarrant | Steven Pacey | Seasons 3-4 (from Powerplay) |
| Soolin | Glynis Barber | Season 4 |
| Zen | (voice) Peter Tuddenham | Seasons 1-3 (from Space fall) destroyed Terminal |
| Orac | (voice) Peter Tuddenham | Seasons 1-4 (from Orac) |
| Slave | (voice) Peter Tuddenham | Season 4 |
| Servalan / Sleer | Jacqueline Pearce | Various episodes from seasons 1-4 |
| Travis (1) | Stephen Grief | Various episodes from seasons 1 |
| Travis (2) | Brian Croucher | Various episodes from seasons 2 died Star One |
| Notable Guest Stars: | ||
| Vargas | Brian Blessed | Cygnus Alpha |
| Bayban | Colin Baker | The City At The Edge Of The World |
| Pasco / Toise | John Leeson | Mission to Destiny / Gambit |
| Keiller | Roy Kinnear | Gold |
| Bek | Karl Howman | Shadow |
| Kayn | Julian Glover | Breakdown |
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