| Name | Character | Episodes |
|---|---|---|
| Jenna Coleman | Queen Victoria | 24 |
| Ferdinand Kingsley | Francatelli | 24 |
| Tom Hughes | Prince Albert | 24 |
| Adrian Schiller | Penge | 24 |
| Nell Hudson | Nancy Skerrett | 24 |
| Tommy Knight | Archibald Brodie | 24 |
| Anna Wilson-Jones | Lady Emma Portman | 19 |
| Catherine Flemming | Duchess of Kent | 14 |
| Margaret Clunie | Harriet, Duchess of Sutherland | 13 |
| Nigel Lindsay | Sir Robert Peel | 13 |
| Alex Jennings | King Leopold | 10 |
| Diana Rigg | Duchess of Buccleuch | 9 |
| Peter Bowles | Duke of Wellington | 9 |
| Bebe Cave | Wilhelmina Coke | 9 |
| Leo Suter | Drummond | 8 |
| Kate Fleetwood | Princess Feodora | 8 |
| Laurence Fox | Lord Palmerston | 8 |
| David Oakes | Prince Ernest | 8 |
| Eve Myles | Mrs. Jenkins | 8 |
| John Sessions | Lord John Russell | 8 |
| Lily Travers | Duchess Sophie of Monmouth | 8 |
| David Burnett | Joseph | 8 |
| Rufus Sewell | Lord Melbourne | 7 |
| Robin Soans | Sir James Clark | 6 |
| David Oakes | Duke of Coburg | 5 |
| Samantha Colley | Eliza | 5 |
| Basil Eidenbenz | Lohlein | 5 |
| Peter Firth | Duke of Cumberland | 4 |
| Andrew Bicknell | Duke of Coburg | 4 |
| John Tueart | Speaker of the House | 4 |
| Paul Rhys | Sir John Conroy | 3 |
| Gregory Mann | William Monmouth | 3 |
| Vincent Regan | King Louis Philippe | 2 |
| Andrew Havill | Dr. Pritchard | 2 |
| David Bamber | Duke of Sussex | 2 |
| Kerr Logan | Patrick | 2 |
| Simon Paisley Day | Lord Chamberlain | 2 |
| Cameron Jack | Police Inspector | 2 |
| David Newman | Henry Cole | 2 |
| Christopher Brand | Paxton | 2 |
| Ben Cartwright | O'Connor | 2 |
| Robin McCallum | Lord Portman | 2 |
| Jasper Jacob | Lord Chamberlain | 1 |
| Martin Compston | Dr. Traill | 1 |
| Peter Firth | King of Hanover | 1 |
| Grainne Keenan | Mrs. Traill | 1 |
| Denis Lawson | Duke of Atholl | 1 |
| Julian Firth | Lord Powis | 1 |
| James Wilby | Sir Piers Gifford | 1 |
| Michael Maloney | Bishop | 1 |
| Erich Redman | German Priest | 1 |
| Terence Beesley | Buxton | 1 |
| Antonia Desplat | Hortense | 1 |
| Ryan Pope | Engineer | 1 |
| Harry McEntire | Edward Oxford | 1 |
| Catherine Steadman | Mrs. Forbes | 1 |
| Alice Orr-Ewing | Lady Flora Hastings | 1 |
| Olivia Popica | Catherine | 1 |
| Hebe Beardsall | Princess Alda | 1 |
| Ben Lamb | Captain Forbes | 1 |
| Bruno Wolkowitch | King Louis Philippe | 1 |
| Annabel Mullion | Lady Beatrice Gifford | 1 |
| Jo Stone-Fewings | Charles Babbage | 1 |
| Andrew Byron | King of Prussia | 1 |
| Don Gallagher | Dr. Swinton | 1 |
| Gary Oliver | Hudson | 1 |
| Lucy Briers | Mrs. Arbuthnot | 1 |
| Andrew Neil | Crofter | 1 |
| Peter Forbes | Craddock | 1 |
| Emerald Fennell | Lady Lovelace | 1 |
| Oliver Walker | Winterhalter | 1 |
| Andrew Scarborough | Captain Childers | 1 |
| Cornell John | Jonas Barrett | 1 |
| Akbar Kurtha | Ambassador for the King of Oudh | 1 |
| Simon Gregor | Lajos Kossuth | 1 |
| Bruce Mackinnon | Hannam | 1 |
| Sam Swainsbury | Dr. John Snow | 1 |
| Richard Braine | Tailor | 1 |
| Andy de la Tour | Flitch | 1 |
| David Shaw-Parker | Country Doctor | 1 |
| Edwin Thomas | Mr. Caine | 1 |
| Giles Taylor | Preacher | 1 |
| Nick Waring | James Planche | 1 |
| Grant Gillespie | Jeweller | 1 |
| Zaris-Angel Hator | Sarah | 1 |
| Laura Morgan | Florence Nightingale | 1 |
| Derek Ezenagu | King Gezo | 1 |
| John Hodgkinson | Police Inspector | 1 |
| Peter Pacey | Stanley | 1 |
| Gaby French | Maid | 1 |
| Basienka Blake | Brothel Madam | 1 |
| Alexander Owen | Dr. Brydon | 1 |
| Hilton McRae | Coombe | 1 |