Michael J. Fox as Milo James Thatch (voice)

Cree Summer as Princess 'Kida' Kidagakash (voice)

James Garner as Commander Lyle Tiberius Rourke (voice)

Claudia Christian as Helga Katrina Sinclair (voice)

Phil Morris as Dr. Joshua Strongbear Sweet (voice)

Leonard Nimoy as King Kashekim Nedakh (voice)

John Mahoney as Preston B. Whitmore (voice)

Corey Burton as Gaetan 'The Mole' Moliere (voice)

Don Novello as Vincenzo 'Vinny' Santorini (voice)

Jacqueline Obradors as Audrey Rocio Ramirez (voice)

Florence Stanley as Wilhelmina Bertha Packard (voice)

David Ogden Stiers as Fenton Q. Harcourt (voice)

Natalie Strom as Young Kida (voice)

Jim Varney as Jebidiah Allardyce 'Cookie' Farnsworth (voice)

Jim Cummings as Additional Voices (voice)

Patrick Pinney as Additional Voices (voice)