| Derek Jacobi | ... | Claudius (12 episodes, 1976) |
 | George Baker | ... | Tiberius (9 episodes, 1976) |
| Margaret Tyzack | ... | Antonia (9 episodes, 1976) |
| Siân Phillips | ... | Livia (7 episodes, 1976) |
| James Faulkner | ... | Herod Agrippa / ... (7 episodes, 1976) |
| Brian Blessed | ... | Augustus (5 episodes, 1976) |
| John Hurt | ... | Caligula (5 episodes, 1976) |
| Kevin McNally | ... | Castor (4 episodes, 1976) |
| Fiona Walker | ... | Agrippina (4 episodes, 1976) |
| Patrick Stewart | ... | Sejanus (4 episodes, 1976) |
| Patricia Quinn | ... | Livilla (4 episodes, 1976) |
| David Robb | ... | Germanicus (3 episodes, 1976) |
| Sheila White | ... | Messalina (3 episodes, 1976) |
| Bernard Hepton | ... | Pallas (3 episodes, 1976) |
| John Cater | ... | Narcissus (3 episodes, 1976) |
| James Fagan | ... | Asprenas / ... (3 episodes, 1976) |
| Freda Dowie | ... | Caesonia / ... (3 episodes, 1976) |
| Kevin Stoney | ... | Thrasyllus (3 episodes, 1976) |
| Alan Thompson | ... | Praxis (3 episodes, 1976) |
| Lockwood West | ... | Senator (2 episodes, 1976) |
| Sam Dastor | ... | Cassius Chaerea (2 episodes, 1976) |
| William Bond | ... | Usher (2 episodes, 1976) |
| John Rhys-Davies | ... | Macro (2 episodes, 1976) |
| Jo Rowbottom | ... | Calpurnia (2 episodes, 1976) |
| Norman Eshley | ... | Marcus / ... (2 episodes, 1976) |
| Anne Dyson | ... | Briseis (2 episodes, 1976) |
| Frances White | ... | Julia (2 episodes, 1976) |
| Bernard Hill | ... | Gratus (2 episodes, 1976) |
| John Castle | ... | Postumus (2 episodes, 1976) |
| Roger Bizley | ... | Plautius / ... (2 episodes, 1976) |
| Souad Faress | ... | Girl / ... (2 episodes, 1976) |
| Karin Foley | ... | Helen (2 episodes, 1976) |
| Ronald Markham | ... | Julia's lover / ... (2 episodes, 1976) |
| John Scott Martin | ... | Julia's lover / ... (2 episodes, 1976) |
| Moira Redmond | ... | Domitia (2 episodes, 1976) |
| Michael Segal | ... | Quaestor (2 episodes, 1976) |
|
| Laurie Goode | ... | Doctor's Assitant (unknown episodes) |
