Gordon Thomson

Sir Robin the Brave

Jim Henson

Kermit / Garth / King Rupert (voice)

Frank Oz

Gawain (voice)

Jerry Nelson

Robin / Featherstone (voice)

Carl Banas

Sweetums (voice)

Jerry Juhl

Taminella / Kay (voice)

Trudy Young

Princess Melora

Heather Henson

Prince Kermit (uncredited)