 William HartnellThe Doctor | The Doctor |
 Jacqueline HillBarbara Wright | Barbara Wright |
 William RussellIan Chesterton | Ian Chesterton |
 Maureen O'BrienVicki | Vicki |
 Peter PurvesSteven Taylor / Morton Dill | Steven Taylor / Morton Dill |
| RRobert MarsdenAbraham Lincoln | Abraham Lincoln |
 Roger HammondFrancis Bacon | Francis Bacon |
| VVivienne BennettQueen Elizabeth I | Queen Elizabeth I |
 Hugh WaltersWilliam Shakespeare | William Shakespeare |
 Peter HawkinsDaleks (voice) | Daleks (voice) |
 David GrahamDaleks (voice) / Mechanoids (voice) | Daleks (voice) / Mechanoids (voice) |
| RRobert JewellDalek | Dalek |
| KKevin ManserDalek | Dalek |
| JJohn Scott MartinDalek / Mechanoid | Dalek / Mechanoid |
 Gerald TaylorDalek | Dalek |
| JJack PittMire Beast / Cabin Steward / Mechanoid / Fungoid | Mire Beast / Cabin Steward / Mechanoid / Fungoid |
| IIan ThompsonMalsan | Malsan |
 Hywel BennettRynian | Rynian |
| AAl RaymondProndyn | Prondyn |
| AArne GordonGuide | Guide |
| DDennis ChinneryAlbert C Richardson | Albert C Richardson |
| DDavid Blake KellyCapt. Benjamin Briggs | Capt. Benjamin Briggs |
| PPatrick CarterBosun | Bosun |
| DDouglas DittaWilloughby | Willoughby |
 John MaximFrankenstein | Frankenstein |
| MMalcolm RobertsCount Dracula | Count Dracula |
| EEdmund WarwickRobot Dr Who | Robot Dr Who |
| RRoslyn DeWinterGrey Lady | Grey Lady |
| MMurphy GrumbarMechonoid | Mechonoid |
| RRichard CoeTelevision announcer (voice) (uncredited) | Television announcer (voice) (uncredited) |
