Judd Nelson as Hot Rod / Rodimus Prime (voice)

Peter Cullen as Optimus Prime / Ironhide (voice)

Frank Welker as Soundwave / Megatron / Rumble / Frenzy / Wheelie (voice)

Leonard Nimoy as Galvatron (voice)

Orson Welles as Unicron (voice)

Casey Kasem as Cliffjumper (voice)

Dan Gilvezan as Bumblebee (voice)

Scatman Crothers as Jazz (voice)

Susan Blu as Arcee (voice)

Eric Idle as Wreck-Gar (voice)

Robert Stack as Ultra Magnus (voice)

Norman Alden as Kranix (voice)

Jack Angel as Astrotrain (voice)

Michael Bell as Prowl / Scrapper / Swoop / Junkion (voice)

Gregg Berger as Grimlock (voice)

Lionel Stander as Kup (voice)

John Moschitta Jr. as Blurr (voice)

Buster Jones as Blaster (voice)

Bud Davis as Dirge (voice)

Walker Edmiston as Inferno (voice)

Paul Eiding as Perceptor (voice)

Neil Ross as Bonecrusher / Hook / Springer / Slag (voice)

Corey Burton as Spike / Brawn / Shockwave (voice)

Roger C. Carmel as Cyclonus / Quintesson Leader (voice)

Arthur Burghardt as Devastator (voice)

Don Messick as Gears (voice)

Ed Gilbert as Blitzwing (voice)

Clive Revill as Kickback (voice)

Hal Rayle as Shrapnel (voice)

David Mendenhall as Daniel (voice)

Victor Caroli as Narrator (voice)

Stan Jones as Scourge (voice)

Christopher Collins as Starscream (voice)