| The Legend of Tarzan picks up where the 1999 feature film left off, with the title character adjusting to his new role as leader of the apes following Kerchak's death, and Jane adjusting to life in the jungle. Rounding out the cast are Jane's father, Professor Archimedes Porter; Tantor, the germophobic elephant; and Terk, a wisecracking female gorilla and Tarzan's old wrestling buddy. |
| Name | Character | Episodes |
|---|---|---|
| Jim Cummings | Tantor (voice) | 39 |
| Jeff Bennett | Archimedes Porter (voice) | 39 |
| Olivia d'Abo | Jane Porter (voice) | 39 |
| April Winchell | Terk (voice) | 39 |
| Michael T. Weiss | Tarzan (voice) | 39 |
| René Auberjonois | Renard Dumont (voice) | 12 |
| Joe Flaherty | Hooft (voice) | 6 |
| Dave Thomas | Hugo (voice) | 6 |
| Susanne Blakeslee | Kala (voice) | 6 |
| Jason Marsden | Mungo (voice) | 5 |
| Erik von Detten | Flynt (voice) | 5 |
| Frank Welker | (voice) | 4 |
| Craig Ferguson | Samuel T. Philander (voice) | 4 |
| Keith David | Tublat (voice) | 3 |
| Phil LaMarr | Basuli (voice) | 3 |
| Diahann Carroll | Queen La (voice) | 3 |
| James Avery | Keewazi (voice) | 3 |
| Frank Welker | Manu (voice) | 2 |
| Grey DeLisle | Greenly (voice) | 2 |
| Tara Strong | Hazel (voice) | 2 |
| Nicollette Sheridan | Eleanor (voice) | 2 |
| Kath Soucie | (voice) | 2 |
| Fred Willard | Baruti (voice) | 2 |
| John O'Hurley | Johannes Niels (voice) | 2 |
| Sheena Easton | Robin Doyle (voice) | 2 |
| Taylor Dempsey | Jabari (voice) | 2 |
| Bruce Campbell | Max Liebling (voice) | 1 |
| Ron Perlman | Colonel Nikolas Rokoff (voice) | 1 |
| Mark Harmon | Bob Markham (voice) | 1 |
| Lance Henriksen | Kerchack (voice) | 1 |
| Frank Welker | Gorillas (voice) | 1 |
| Frank Welker | Apes (voice) | 1 |
| Frank Welker | Primates (voice) | 1 |
| Frank Welker | Bibi (voice) | 1 |
| Frank Welker | Dumont as Gibbon (voice) | 1 |
| John DiMaggio | Gozan (voice) | 1 |
| Stephen Root | Theodore 'Teddy' Roosevelt (voice) | 1 |
| Neil Patrick Harris | Moyo (voice) | 1 |
| Jim Cummings | Hobson (voice) | 1 |
| Jim Cummings | Col. Staquait (voice) | 1 |
| Jim Cummings | Merkus (voice) | 1 |
| Tara Strong | (voice) | 1 |
| Jason Alexander | Zutho (voice) | 1 |
| Kevin Michael Richardson | Thaddeus Hunt (voice) | 1 |
| Kevin Michael Richardson | Muviro (voice) | 1 |
| Kevin Michael Richardson | Merkus (voice) | 1 |
| Kevin Michael Richardson | Mr. Dobrez (voice) | 1 |
| Kevin Michael Richardson | (voice) | 1 |
| Dawnn Lewis | Naoh (voice) | 1 |
| Phil LaMarr | (voice) | 1 |
| Diedrich Bader | Stanley Obrowski (voice) | 1 |
| Steven Weber | Ed (voice) | 1 |
| Max Casella | Fungi (voice) | 1 |
| Bill Fagerbakke | Walter (voice) | 1 |
| Rob Paulsen | Radio Voice (voice) | 1 |
| Thomas Lennon | Landlord (voice) | 1 |
| April Winchell | Bibi's Mother (voice) | 1 |
| Maurice LaMarche | Ship Captain / Prisoner (voice) | 1 |
| Maurice LaMarche | Sam (voice) | 1 |
| Clarence Williams III | (voice) | 1 |
| Kenneth Mars | Old Gorilla (voice) | 1 |
| Tate Donovan | Gobu (voice) | 1 |
| Alexis Denisof | Henry (voice) | 1 |
| Tony Jay | Poacher (voice) | 1 |
| Michael McShane | (voice) | 1 |
| Jason Marsden | (voice) | 1 |
| Kathy Najimy | Dania (voice) | 1 |
| Charles Napier | Ian McTeague (voice) | 1 |
| James Avery | (voice) | 1 |
| Amanda Donohoe | Lady Waltham (voice) | 1 |
| Brock Peters | (voice) | 1 |
| Brock Peters | Usula (voice) | 1 |
| John Mariano | Joey Marks (voice) | 1 |
| Nicolette Little | Abby Markham (voice) | 1 |
| Shaun Fleming | Young Tarzan (voice) | 1 |
| Taylor Dempsey | Young Tantor (voice) | 1 |
| Susanne Blakeslee | (voice) | 1 |