Nathan Fillion Richard Castle Actor Stana Katic NYPD Captain Kate Beckett Actor Susan Sullivan Martha Rodgers Actor Molly C. Quinn Alexis Castle Actor Ruben Santiago-Hudson Captain Roy Montgomery Actor Tamala Jones Lanie Parish Actor Jon Huertas NYPD Detective Javier Esposito Actor Seamus Dever NYPD Detective Kevin Ryan Actor Lee Tergesen Marcus Gates Guest Star Michael Mosley Jerry Tyson Guest Star Brian Klugman Paul McCardle Guest Star Joe O'Connor Cal Townsend Guest Star Anne Marie Howard Angela Russo Guest Star Ping Wu Dr. Lee Guest Star Andrew W. Marlowe Executive Producer Rob Bowman Executive Producer Laurie Zaks Executive Producer David Amann Executive Producer, Writer Bill Roe Director