Main cast Kate Mulgrew as Kathryn Janeway, commanding officer of the USS Voyager and later a flag officer at Starfleet Command.
Robert Beltran as Chakotay, Janeway's first officer and former member of the Maquis.
Roxann Dawson as B'Elanna Torres, chief engineer and former member of the Maquis.
Robert Duncan McNeill as Tom Paris, conn officer.
Jennifer Lien as Kes, nurse and medical apprentice until her departure from Voyager in 2374.
Ethan Phillips as Neelix, chef, morale officer, and later Federation Ambassador to the Delta Quadrant.
Robert Picardo as The Doctor, chief medical officer.
Tim Russ as Tuvok, chief security/tactical officer.
Jeri Ryan as Seven of Nine, stellar cartography and former Borg drone liberated from the Collective.
Garrett Wang as Harry Kim, operations officer.Recurring cast Simon Billig as Hogan, engineering officer and former member of the Maquis until his death in 2373.
Josh Clark as Joe Carey, engineering officer until his death in 2378.
Anthony De Longis as Jal Culluh, First Maje of the Kazon-Nistrim.
John de Lancie as
Q, a member of the Q-Continuum who frequently visits the USS Voyager.
Christine Delgado as Susan Nicoletti, engineering officer.
Brad Dourif as Lon Suder, engineering officer and former member of the Maquis until his death in 2373.
Susan Patterson as Kaplan, security officer until her death in 2373.
Alexander Enberg as Vorik, engineering officer.
Tarik Ergin as Ayala, security officer, conn officer, and former member of the Maquis.
Martha Hackett as
Seska, Cardassian operative and Kazon collaborator until her death in 2373.
Richard Herd as Owen Paris, flag officer at Starfleet Command, officer of the Pathfinder Project, and father of Tom Paris.
Nancy Hower as Samantha Wildman, science officer.
Manu Intiraymi as Icheb, a former Borg drone liberated from the Collective.
Marley S. McClean as Mezoti, a former Borg drone liberated from the Collective.
Derek McGrath as Chell, operations officer and former member of the Maquis.
Zoe McLellan as Tal Celes, operations officer.
Scarlett Pomers as Naomi Wildman, daughter of Samantha Wildman.
John Rhys-Davies as the holographic recreation of Leonardo da Vinci.
Raphael Sbarge as Michael Jonas, engineering officer and former member of the Maquis until his death in 2372.
Martin Rayner as Doctor Chaotica, a holodeck character.
Dwight Schultz as Reginald Barclay, officer at Starfleet Communications and the Pathfinder Project.
Marina Sirtis as
Deanna Troi, ship's counselor on the USS Enterprise-E.
John Tampoya as Kashimuro Nozawa, operations officer.
Susanna Thompson as
The Borg Queen, leader of the Borg Collective.
Cody Wetherill as Rebi, a former Borg drone liberated from the Collective.
Kurt Wetherill as Azan, a former Borg drone liberated from the Collective.
Season 1
"Caretaker, Part I"
"Caretaker, Part II"
"Parallax"
"Time and Again"
"Phage"
"The Cloud"
"Eye of the Needle"
"Ex Post Facto"
"Emanations"
"Prime Factors"
"State of Flux"
"Heroes and Demons"
"Cathexis"
"Faces"
"Jetrel"
"Learning Curve"
Season 2
"The 37's"
"Initiations"
"Projections"
"Elogium"
"Non Sequitur"
"Twisted"
"Parturition"
"Persistence of Vision"
"Tattoo"
"Cold Fire"
"Maneuvers"
"Resistance"
"Prototype"
"Alliances"
"Threshold"
"Meld"
"Dreadnought"
"Death Wish"
"Lifesigns"
"Investigations"
"Deadlock"
"Innocence"
"The Thaw"
"Tuvix"
"Resolutions"
"Basics, Part I"
Season 3
"Basics, Part II"
"Flashback"
"The Chute"
"The Swarm"
"False Profits"
"Remember"
"Sacred Ground"
"Future's End, Part I"
"Future's End, Part II"
"Warlord"
"The Q and the Grey"
"Macrocosm"
"Fair Trade"
"Alter Ego"
"Coda"
"Blood Fever"
"Unity"
"Darkling"
"Rise"
"Favorite Son"
"Before and After"
"Real Life"
"Distant Origin"
"Displaced"
"Worst Case Scenario"
"Scorpion, Part I"
Season 4
"Scorpion, Part II"
"The Gift"
"Day of Honor"
"Nemesis"
"Revulsion"
"The Raven"
"Scientific Method"
"Year of Hell, Part I"
"Year of Hell, Part II"
"Random Thoughts"
"Concerning Flight"
"Mortal Coil"
"Waking Moments"
"Message in a Bottle"
"Hunters"
"Prey"
"Retrospect"
"The Killing Game, Part I"
"The Killing Game, Part II"
"Vis à Vis"
"The Omega Directive"
"Unforgettable"
"Living Witness"
"Demon"
"One"
"Hope and Fear"
Season 5
"Night"
"Drone"
"Extreme Risk"
"In the Flesh"
"Once Upon a Time"
"Timeless"
"Infinite Regress"
"Nothing Human"
"Thirty Days"
"Counterpoint"
"Latent Image"
"Bride of Chaotica!"
"Gravity"
"Bliss"
"Dark Frontier, Part I"
"Dark Frontier, Part II"
"The Disease"
"Course: Oblivion"
"The Fight"
"Think Tank"
"Juggernaut"
"Someone to Watch Over Me"
"11:59"
"Relativity"
"Warhead"
"Equinox, Part I"
Season 6
"Equinox, Part II"
"Survival Instinct"
"Barge of the Dead"
"Tinker, Tenor, Doctor, Spy"
"Alice"
"Riddles"
"Dragon's Teeth"
"One Small Step"
"The Voyager Conspiracy"
"Pathfinder"
"Fair Haven"
"Blink of an Eye"
"Virtuoso"
"Memorial"
"Tsunkatse"
"Collective"
"Spirit Folk"
"Ashes to Ashes"
"Child's Play"
"Good Shepherd"
"Live Fast and Prosper"
"Muse"
"Fury"
"Life Line"
"The Haunting of Deck Twelve"
"Unimatrix Zero, Part I"
Season 7
"Unimatrix Zero, Part II"
"Imperfection"
"Drive"
"Repression"
"Critical Care"
"Inside Man"
"Body and Soul"
"Nightingale"
"Flesh and Blood, Part I"
"Flesh and Blood, Part II"
"Shattered"
"Lineage"
"Repentance"
"Prophecy"
"The Void"
"Workforce, Part I"
"Workforce, Part II"
"Human Error"
"Q2"
"Author, Author"
"Friendship One"
"Natural Law"
"Homestead"
"Renaissance Man"
"Endgame, Part I"
"Endgame, Part II"