| Name | Character | Episodes |
|---|---|---|
| Judi Dench | Katherine | 15 |
| Julian Glover | Lord Marshal | 14 |
| Frank Windsor | Bishop of Carlisle | 13 |
| Patrick Garland | Sir Stephen Scroop | 13 |
| John Ringham | Lord Berkeley | 12 |
| Jerome Willis | Morton | 11 |
| Anthony Valentine | 11 | |
| Robert Lang | 11 | |
| Barry Jackson | 8 | |
| John Warner | 8 | |
| Tony Garnett | 7 | |
| Robert Hardy | Henry, Prince of Wales | 6 |
| Mary Morris | 6 | |
| Jack May | 6 | |
| Adrian Brine | 6 | |
| Geoffrey Bayldon | Duke of York | 5 |
| Paul Daneman | Richard | 5 |
| Frank Pettingell | Sir John Falstaff | 5 |
| Sean Connery | Harry Percy | 4 |
| William Squire | 4 | |
| Judi Dench | 2 | |
| Eileen Atkins | 2 | |
| Michael Graham Cox | 2 | |
| Michael Graham Cox | Macmorris | 2 |
| John Sharp | 2 | |
| Michael Graham Cox | Abbot of Westminster / Keeper | 1 |
| Michael Graham Cox | Carrier | 1 |
| Michael Graham Cox | Lord Mayor / Shepherd | 1 |
| Michael Graham Cox | Davy | 1 |
| Michael Graham Cox | Drawer | 1 |
| Cyril Luckham | 1 | |
| Esmond Knight | 1 | |
| Andrew Faulds | Earl of Douglas | 1 |
| Hermione Baddeley | Doll Tearsheet | 1 |
| Terry Scully | Henry VI | 1 |