Ella Purnell
voices Gwyn
Brett Gray
voices Dal R'El
Jason Mantzoukas
voices Jankom Pog
Dee Bradley Baker
voices Murf
Angus Imrie
voices Zero
Rylee Alazraqui
voices Rok-Tahk
Jimmi Simpson
voices Drednok
Robert Beltran
voices Captain Chakotay
Robert Picardo
voices The Doctor
John Noble
voices Ilthuran
Jameela Jamil
voices Asencia