| Name | Character | Episodes |
|---|---|---|
| Roger Moore | Sir Wilfred of Ivanhoe | 39 |
| Robert Brown | Gurth | 39 |
| Andrew Keir | Prince John | 12 |
| Alex Scott | Sir Rufus | 3 |
| John Carson | Sir Morten | 2 |
| Terence Longdon | Sir Waldermar | 2 |
| Christopher Lee | Sir Otto from the Rhine | 1 |
| John Carson | Sir Roderick | 1 |
| John Carson | Sir Robert | 1 |
| Michael Anderson Jr. | Prince Arthur | 1 |
| John Schlesinger | Jack Ludlow | 1 |
| Michael Bates | Will The Simple | 1 |
| Bruce Seton | King Richard The Lionheart | 1 |
| Bruce Seton | Earl of Ashington | 1 |
| Paul Eddington | Robber Chief | 1 |
| Bill Shine | Cedric the Simple | 1 |
| Ballard Berkeley | Rand the Goldsmith | 1 |
| Andrew Faulds | Sir Erwynn | 1 |
| Jennifer Jayne | Vatain | 1 |
| Jennifer Jayne | Lady Eleanor | 1 |
| Michael Ripper | Lyman | 1 |
| Michael Ripper | Cronyn | 1 |
| Anthony Dawson | Sir Maurice | 1 |
| Ronald Leigh-Hunt | Father Benedict | 1 |
| Kenneth Cope | Warren | 1 |
| Peter Dyneley | Baron Mauray | 1 |
| Robert Raglan | Martin | 1 |
| Peter Gilmore | Sir Waldo of Ivanhoe | 1 |
| Derek Waring | Sir Roger | 1 |
| Martin Boddey | Mortimer | 1 |
| Alex Scott | Sir Geoffrey | 1 |
| John Warner | Dick O'Devon | 1 |
| Bruno Barnabe | Rinaldo | 1 |
| Joan Rice | Marcia | 1 |
| Tony Wager | Roland | 1 |
| Alexander Archdale | Sir Robert of Thornton | 1 |
| John Cazabon | The Village Elder | 1 |
| Geoffrey Toone | Sir Maurice | 1 |
| Leonard Sachs | Lord Malvern | 1 |
| Leonard Sachs | Sir Roger | 1 |
| Jon Pertwee | Peter the Peddler | 1 |
| Rupert Davies | Brother Gareth | 1 |