- Robert Addie - Sir Guy of Gisburne
- John Abineri - Herne the Hunter
- Philip Jackson - Abbot Hugo de Rainault
- Michael Craig - The Earl of Huntingdon
- Oliver Cotton - Lord Owen of Clun
- Angharad Rees - Jennet of Elsdon
- Dorothy Tutin - Lady Margaret of Gisburne
- Patricia Hodge - Queen Hadwisa
- Oliver Tobias - Bertrand de Nivelle
- Lewis Collins - Philip Mark
- Gemma Craven - Lilith
- Bryan Marshall - Adam Bell
- Gary Waldhorn - Hubert Walter
- Matt Frewer - Roger de Carnac
- Simon Dutton - Mark / Henry of Skipton
- Larry Dann - Bailiff
- Ian Ogilvy - Lord Edgar
- Cathryn Harrison - Isadora
- Simon Rouse - Siward
- Anthony Valentine - Baron de Belleme
- Bradley Lavelle - Marcher Lord
- William Russell - The Duke of Gloucester
- Jeremy Sinden - Mortimer
- John Nettles - Peter de Leon
- Phil Davis - Prince John
- Richard O'Brien - Gulnar
- Dallas Adams - Peter Verdelet
- David Rappaport - Skulley
- Caroline Holdaway - Mary the Miller's Wife
- Reece Dinsdale - Arthur of Brittany
- Victor McGuire - James
- Ingrid Hafner - Mary
- Cyril Cusack - Agrivaine
- Wayne Michaels - Ailric of Loxley
- Harry Herring - Clerk
- Thomas Henty - Flambard
- David Goodland - Gregory, the Tax Collector
- Cornelius Garrett - Thomas of Elsdon
- Yves Beneyton - Reynald de Villaret
- Steven Osborne - James
- Duncan Preston - Heinrich von Erlichshausen
- Colin Rix - Potter
- Doc O'Brien - Mercadier
- Philip York - Captain
- Michael Loney - Guard
- David de Keyser - Joshua de Talmont
- Adam Rosenthal - Samuel de Talmont
- Katharine Levy - Sarah de Talmont
- Patrick Gordon - Guillaume
- Ian Brimble - Forester
- Marcus Gilbert - Lucifer
- Anthony Steel - Earl Godwin
- Conrad Phillips - Philip
- Rula Lenska - Morgwyn of Ravenscar
- Norman Bowler - Adam the Miller
- David Trevena - Sheriff
- Nick Brimble - Earl Godwin's Captain
- Mark Lewis - Brabancon Chief
- Mark Lewis - Walter
- Mark Lewis - Arab
- Serena Harragin - First Lady
- Keith Bartlett - Marcher Lord
- Keith Bartlett - Rival Marcher Lord
- Graham Chinn - Amos Scathlock
- Daniel Peacock - Sergeant Sparrow
- Ivan Steward - Ambrose
- Nicholas Pritchard - Marcher Lord
- Max Faulkner - Oliver
- George Baker - Sir Richard of Leaford
- Derrick O'Connor - Raven
- Harry Jones - Irish Villain
- Hywel Bennett - King Arthur (voice)
- Neville Watchurst - Carter
- Robert Daws - Hubert de Giscard
- Valentine Pelka - Sarak
- David Lumsden - Jeffrey
- Brendan Price - Abbot Martin
- Claire Toeman - Meg of Wickham
- Claire Toeman - Meg
- Jemima Ffyne - Little Girl
- David Plimmer - Reeve
- Claire Parker - Elena Scathlock
- Graham Weston - William the Blacksmith
- John Horsley - Abbot of Thornton Abbey
- Ian Redford - Tom the Miller
- Ian Redford - Tom the Villager
- Richard Bonehill - Driver
- Deborah Cranston - Villager
- Charlie Condou - Martin
- Roger McKern - Guard
- Roger McKern - Villager
- Roger McKern - Dying Villager
- Olive Lucius - Prioress
- Olive Lucius - Old Lady
- Leo Dolan - Moth
- Rodney Wood - Stall Holder
- Amanda Hillwood - Lady Isabel
- Hugh Evans - Innkeeper
- William Vaughan - Gaoler
- Paul Geoffrey - Tourneur
- Cory Pulman - Queen Isabella
- Bill Wallis - Barber / Surgeon
- Gregory Cox - Steward
- Annabelle Lee - Mad Mab
- Stephen MacKenna - Walter Clout
- Pavel Douglas - Captain
- Jeremy Bulloch - Edward of Wickham
- Maureen Bennett - Alison of Wickham
- Maureen Bennett - Alison
- James Coombes - Grendel
- David Charkham - Tom
- Ben Davis - Village child
- Ben Davis - Child
- Robbie Bulloch - Matthew of Wickham
- Shelley Pielou - Gulnar's Maiden
- Iain Armstrong - Villager
- Gaby Dellal - Gulnar's Maiden
- Brian Coburn - Alehouse Keeper
- John Harding - William Brewer
- Dan Gregory - Head Man
- James Donnelly - Gareth of Uffcombe
- Patrick Dromgoole
- Paul Knight
Victor McGuire hace el papel de James.
Jason Connery hace el papel de Robert of Huntingdon, Robin Hood.
Judi Trott interpreta a Lady Marion of Leaford en la serie.
Ray Winstone interpreta a Will Scarlet en la serie.
Clive Mantle interpreta a Little John en la serie.
Peter Llewellyn Williams interpreta a Much en la serie.
Mark Ryan hace el papel de Nasir.
Phil Rose hace el papel de Friar Tuck.
Nickolas Grace interpreta a Robert de Rainault, The Sheriff of Nottingham en la serie.
Robert Addie interpreta a Sir Guy of Gisburne en la serie.
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