Peter Capaldi The Doctor Actor Jenna Coleman Clara Oswald Actor Samuel Anderson Danny Pink Guest Star Tom Riley Robin Hood Guest Star Roger Ashton-Griffiths Quayle Guest Star Sabrina Bartlett Quayle's Ward Guest Star Ben Miller The Sheriff of Nottingham Guest Star Ian Hallard Alan-a-Dale Guest Star Trevor Cooper Friar Tuck Guest Star Rusty Goffe Little John Guest Star Joseph Kennedy Will Scarlett Guest Star Adam Jones Walter Guest Star David Benson Herald Guest Star Richard Elfyn Guest Voice Steven Moffat Executive Producer, Writer Richard Curtis Writer Chris Chibnall Writer Toby Whithouse Writer Mark Gatiss Writer Simon Nye Writer