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)

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

Phil Morris as Dr. Joshua Strongbear Sweet (voice)

Jacqueline Obradors as Audrey Rocio Ramirez (voice)

Don Novello as Vincenzo 'Vinny' Santorini (voice)

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

Florence Stanley as Wilhelmina Bertha Packard (voice)

John Mahoney as Preston B. Whitmore (voice)

Leonard Nimoy as King Kashekim Nedakh (voice)

David Ogden Stiers as Mr. Harcourt (voice)

Natalie Strom as Young Kida (voice)

Jim Cummings as Additional Voices (voice)

Patrick Pinney as Additional Voices (voice)