| Name | Character | Episodes |
|---|---|---|
| David Tennant | The Doctor (voice) | 6 |
| David Warner | Lord Azlok (voice) | 6 |
| Georgia Tennant | Cassie Rice (voice) | 6 |
| Nicholas Rowe | Rivesh Mantilax (voice) | 5 |
| Peter Guinness | Mister Dread (voice) | 5 |
| Ryan McCluskey | Sergeant (voice) | 5 |
| Clarke Peters | Night Eagle (voice) | 4 |
| David Tennant | The Doctor (Voice) | 1 |