Judd Nelson
Hot Rod / Rodimus Prime (voice)
Peter Cullen
Optimus Prime / Ironhide (voice)
Frank Welker
Soundwave / Megatron / Rumble / Frenzy / Wheelie (voice)
Leonard Nimoy
Galvatron (voice)
Orson Welles
Unicron (voice)
Casey Kasem
Cliffjumper (voice)
Dan Gilvezan
Bumblebee (voice)
Scatman Crothers
Jazz (voice)
Susan Blu
Arcee (voice)
Eric Idle
Wreck-Gar (voice)
Robert Stack
Ultra Magnus (voice)
Norman Alden
Kranix (voice)
Jack Angel
Astrotrain (voice)
Michael Bell
Prowl / Scrapper / Swoop / Junkion (voice)
Gregg Berger
Grimlock (voice)
Lionel Stander
Kup (voice)
John Moschitta Jr.
Blurr (voice)
Buster Jones
Blaster (voice)
Bud Davis
Dirge (voice)
Walker Edmiston
Inferno (voice)
Paul Eiding
Perceptor (voice)
Neil Ross
Bonecrusher / Hook / Springer / Slag (voice)
Corey Burton
Spike / Brawn / Shockwave (voice)
Roger C. Carmel
Cyclonus / Quintesson Leader (voice)
Arthur Burghardt
Devastator (voice)
Don Messick
Gears (voice)
Ed Gilbert
Blitzwing (voice)
Clive Revill
Kickback (voice)
Hal Rayle
Shrapnel (voice)
David Mendenhall
Daniel (voice)
Victor Caroli
Narrator (voice)
Stan Jones
Scourge (voice)
Christopher Collins
Starscream (voice)