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)

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)