| Simon Jones |
Arthur Dent |
| Geoffrey McGivern |
Ford Prefect |
| Peter Jones |
The Book (Series 1-3 & 5) |
| William Franklyn |
The Book (Series 3-5) |
| John Lloyd |
The Book (Series 6) |
| Mark Wing-Davey |
Zaphod Beeblebrox (Series 1-3 & 5-6) |
| Stephen Moore |
Marvin (Series 1-5) |
| Susan Sheridan |
Trillian (Series 1-3 & 5-6) |
| Sandra Dickinson |
Trillian (Series 4-6) |
| Jane Horrocks |
Fenchurch (Series 4-6) |
| Rula Lenska |
Voice of the Bird (Series 4-5) |
| Bill Wallis |
The Vogon Captain (Series 1-2) |
| Toby Longworth |
Prostetnic Vogon Jeltz (Series 4-6) |
| David Tate |
Eddie (Series 1-2) |
| Roger Gregg |
Eddie (Series 3 & 5) |
| Jonathan Pryce |
Zarniwoop (Series 2 & 5) |
| Richard Vernon |
Slartibartfast (Series 1) |
| Richard Griffiths |
Slartibartfast (Series 3) |
| Samantha Béart (as Sam Burke) |
Random (Series 5-6) |
| John Marsh |
Announcer (Series 6) |
