- 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 hace el papel de Admiral Jellico (voice).
Gates McFadden hace el papel de Dr. Beverly Crusher (voice).
Jason Alexander hace el papel de Doctor Noum (voice).
Leonard Nimoy interpreta a Spock (voice) en la serie.
James Doohan hace el papel de Scotty (voice).
Nichelle Nichols interpreta a Uhura (voice) en la serie.
Brett Gray interpreta a Dal (voice) en la serie.
Ella Purnell interpreta a Gwyn (voice) en la serie.
Jason Mantzoukas interpreta a Jankom Pog (voice) en la serie.
Angus Imrie interpreta a Zero (voice) en la serie.
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