David Tennant as The Doctor (voice)

Freema Agyeman as Martha Jones (voice)

Anthony Stewart Head as Baltazar (voice)

Toby Longworth as Caw / Squawk (voice)

Liza Tarbuck as Captain Kaliko (voice)

Tom Farrelly as Swabb (voice)

Lizzie Hopley as Mantasphid Queen (voice)

Paul Clayton as Mergrass (voice)

Steven Meo as Pilot Kelvin (voice)

Barney Harwood as Control Voice (voice)

Stephen Greif as Gurney (voice)

Dan Morgan as Locke / Warders (voice)