Gordon Thomson

as Sir Robin the Brave

Jim Henson

as Kermit / Garth / King Rupert (voice)

Frank Oz

as Gawain (voice)

Jerry Nelson

as Robin / Featherstone (voice)

Carl Banas

as Sweetums (voice)

Jerry Juhl

as Taminella / Kay (voice)

Trudy Young

as Princess Melora

Heather Henson

as Prince Kermit (uncredited)

John Lovelady

as Muppet Performer

Danny Seagren

as Muppet Performer

Richard Hunt

as Aunt Taminella