- Kate Mulgrew - Kathryn Janeway (voice)
- Robert Beltran - Captain Chakotay (voice)
- Robert Beltran - Captain Chakotay / Mirror Chakotay (voice)
- John Noble - Diviner (voice)
- John Noble - Ilthuran (voice)
- Jimmi Simpson - Drednok (voice)
- Jimmi Simpson - Bronze Drednok (voice)
- Jimmi Simpson - Lorekeeper / Drednok Unit (voice)
- Jimmi Simpson - Lorekeeper (voice)
- René Auberjonois - Odo (voice)
- James Doohan - Scotty (voice)
- Nichelle Nichols - Uhura (voice)
- Leonard Nimoy - Spock (voice)
- David Ruprecht - Kobayashi Maru Captain (voice)
- Melissa Villaseñor - Nandi / Frail woman (voice)
- Laila Berzins - Ankle Restraint / Miner #1 / Miners (voice)
- Rania Sharkawy - Caitian Child (voice)
- Ben Barnes - Spike Headed Alien / Miner #2 / Miners (voice)
- Grey DeLisle - Nandi (voice)
- Daveed Diggs - Commander Tysess (voice)
- Samantha Smith - Cadet Huur'A (voice)
- Brook Chalmers - Klingon 1 (voice)
- Brook Chalmers - Tal Shiar #2 / Tal Shiar #6 (voice)
- Brook Chalmers - Sudy-Padd (voice)
- Brook Chalmers - Maximillion (voice)
- Brook Chalmers - Kazon Slave Trader / Rok-Tahk (voice)
- Kimberly Brooks - Commander Kaseth / Starfleet Officer #1 (voice)
- Ronny Cox - Admiral Jellico (voice)
- Amy Hill - Doctor Jago (voice)
- Zehra Fazal - Boxy (voice)
- Jason Alexander - Counselor Noum (voice)
- Jason Alexander - Doctor Noum (voice)
- Eric Bauza - Young Man (voice)
- Eric Bauza - Sool'u (voice)
- Eric Bauza - Barniss Frex (voice)
- Eric Bauza - Vulcan justice (voice)
- Eric Bauza - Scott'Ee / Sool'U / Male Enderprizian / Enderprizians (voice)
- Gates McFadden - Beverly Crusher (voice)
- Gates McFadden - Dr. Beverly Crusher (voice)
- Debra Wilson - Miner 2 / Miner 4 / Miner 7 / Miners (voice)
- Debra Wilson - Captain Trij (voice)
- Debra Wilson - A. I. Computer (voice)
- Debra Wilson - Miners (voice)
- Debra Wilson - Crew Member (voice)
- Debra Wilson - Officer (voice)
- Tommie Earl Jenkins - Adreek-Hu (voice)
- Tommie Earl Jenkins - Adreek-Hu / Kazon #3 (voice)
- Bonnie Gordon - Ship Computer (voice)
- Bonnie Gordon - Ship Computer / Translated Whale (voice)
- Bonnie Gordon - Universal Translator / Mirror Ship Computer (voice)
- Bonnie Gordon - Ensign #2 / Ship Computer (voice)
- Bonnie Gordon - Ship Computer / Brenari Ensign / Ensign (voice)
- Bonnie Gordon - Ship Computer / Starfleet officer (voice)
- Bonnie Gordon - Ship Computer / Sleeper Ship Computer (voice)
- Bonnie Gordon - Ship Computer / Universal Translator (voice)
- Bonnie Gordon - Ship Computer / Tal Shiar #4 (voice)
- Bonnie Gordon - Bolian Mother / Advisor (voice)
- Billy Campbell - Thadiun Okona (voice)
- Billy Campbell - Okona (voice)
- Jameela Jamil - Asencia (voice)
- Jameela Jamil - Asencia / Young Asencia (voice)
- Jameela Jamil - Ascencia (voice)
- Zeno Robinson - Student / Student #2 / Command Student (voice)
- Fred Tatasciore - Dr. Boons / Sprok / Enderprizians (voice)
- Fred Tatasciore - Soldier / Vau Scientist 1 (voice)
- Susanne Blakeslee - Kathon (voice)
- John Pirkis - Borom (voice)
- Afi Ekulona - Shuttle Pilot (voice)
- Robert Picardo - The Doctor (voice)
- Sunkrish Bala - Zeph (voice)
- Sunkrish Bala - Zeph / Ensign #1 (voice)
- Sunkrish Bala - Zeph / Student #1 / Instructor #1 (voice)
- Erin Ann MacDonald - Doctor MacDonald (voice)
- Erin Ann MacDonald - Dr. MacDonald (voice)
- Erin Ann MacDonald - Dr. Erin (voice)
- James C. Mathis III - Ekthi (voice)
- Michaela Dietz - Maj'el (voice)
- Michaela Dietz - Maj'el / Grom (voice)
- Chris Schermerhorn - Ion (voice)
- Griffin Burns - Villager (voice)
- Valeria Rodriguez - Friendly Villager (voice)
- Wil Wheaton - Wesley Crusher (voice)
- Eric Menyuk - The Traveler (voice)
- Jorge R. Gutierrez - Dr. K'Ruvang (voice)
- Kari Wahlgren - Running Villager (voice)
- Kari Wahlgren - Ensign #3 (voice)
- Kari Wahlgren - Vau Scientist 2 (voice)
- Gene Roddenberry
- Chad Quandt
- Ben Hibon
- Jennifer Gay
- Trevor Roth
- Patrick Krebs
- Katie Krentz
- Nami Melumad
- Michael Giacchino
Ronny Cox interpreta a Admiral Jellico (voice) en la serie.
Gates McFadden hace el papel de Dr. Beverly Crusher (voice).
Jason Alexander interpreta a Doctor Noum (voice) en la serie.
Leonard Nimoy hace el papel de Spock (voice).
James Doohan interpreta a Scotty (voice) en la serie.
Nichelle Nichols interpreta a Uhura (voice) en la serie.
Brett Gray interpreta a Dal (voice) en la serie.
Ella Purnell hace el papel de Gwyn (voice).
Jason Mantzoukas interpreta a Jankom Pog (voice) en la serie.
Angus Imrie interpreta a Zero (voice) en la serie.
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