| Name | Character | Episodes |
|---|---|---|
| Ian McShane | Sejanus | 5 |
| Susan Sarandon | Livilla | 5 |
| Paul Freeman | Cornelius | 5 |
| Akosua Busia | Acte | 5 |
| Richard Kiley | Claudius | 5 |
| Jack Warden | Nerva | 5 |
| Diane Venora | Corinna | 5 |
| Ava Gardner | Agrippina | 5 |
| David Hedison | Porcius Festus | 5 |
| John McEnery | Caligula | 5 |
| John Steiner | Simon der Magier | 5 |
| Katia Dandoulaki | Octavia | 5 |
| Richard Roundtree | Serpenius | 5 |
| Anthony Zerbe | Pontius Pilatus | 5 |
| Amanda Pays | Sarah | 5 |
| Damien Thomas | Herod Agrippa | 5 |
| Colleen Dewhurst | Antonia | 5 |
| Millie Perkins | Maria | 5 |
| James Mason | Tiberius | 5 |
| Ben Vereen | Ethiopian | 5 |
| Fernando Rey | Seneca | 5 |
| John Houseman | Gamaliel | 5 |
| Tony Vogel | Aquila | 5 |
| Jonathan Tafler | Aaron | 5 |
| Clive Arrindell | Cassius | 5 |
| Jennifer O'Neill | Messalina | 5 |
| Andrea Prodan | Brittanicus | 5 |
| Vernon Dobtcheff | Flavius Sabinus | 5 |
| Harold Kasket | Kaiphas | 5 |
| Vincent Riotta | Stephanus | 5 |
| Anthony Andrews | Nero | 5 |
| David Brandon | Petronius | 5 |
| Nicholas Ball | Römischer Offizier | 5 |
| Renato Scarpa | Lucius Marinus | 5 |
| Philip Anthony | Jakobus der Ältere | 5 |
| Jane How | Poppaea | 5 |
| Rebecca Saire | Ruth | 5 |
| Neil Dickson | Valerius | 5 |
| Bruce Winant | Seth | 5 |
| Peter Howell | Atticus | 5 |
| Barrie Houghton | Ananias | 5 |
| Scott Hoxby | Agrippa II | 5 |
| Gerrard McArthur | Lukas | 5 |
| Stephen Finlay | Nicanor | 5 |
| Michael Wilding, Jr. | Jesus | 5 |
| Richard Kane | Agrippa III | 5 |
| Martin Potter | Gaius Calpurnius Piso | 5 |
| Mike Gwilym | Pallas | 5 |
| Ralph Arliss | Samuel | 5 |
| Philip Sayer | Paulus | 5 |
| David Sumner | Matthias | 5 |
| Anthony Pedley | Zachäus | 5 |
| Chris Humphreys | Caleb | 5 |
| Jeremy Gittins | John | 3 |
| Peter Blythe | Proculus (uncredited) | 2 |
| Arnold Diamond | Princeps Senatus | 2 |
| Howard Goorney | Timon | 2 |
| Arlen Stuart | Procula | 2 |
| Jonathan Hyde | Tigellinus | 1 |
| Peter-Hugo Daly | Roman Soldier | 1 |
| Peter-Hugo Daly | First Companion | 1 |
| Peter-Hugo Daly | First Soldier | 1 |
| Alun Armstrong | Gamesmaster | 1 |
| Matyelok Gibbs | Lea | 1 |
| David Rintoul | Linus (uncredited) | 1 |
| David Rintoul | Linus | 1 |
| William Morgan Sheppard | Gracchus 1 episode, 1985 | 1 |
| Cathy Murphy | First Girl | 1 |
| Harry Fielder | Supporting Artist (uncredited) | 1 |
| Christopher Ellison | Roman Soldier (uncredited) | 1 |
| Christopher Ellison | Calpurnius | 1 |
| Harry Landis | Agabus | 1 |
| Tim Pearce | Fisherman | 1 |
| Tim Pearce | Centurion | 1 |
| Jeremy Gittins | Lysias | 1 |
| Donald Morley | Senator | 1 |
| Mary Peach | Corinna's Mother | 1 |
| Mary Peach | Peasant (uncredited) | 1 |
| Anne Tirard | Samuel's Mother | 1 |
| Ned Vukovic | Triumvir | 1 |
| Ned Vukovic | Triumvir (uncredited) | 1 |