Nathan Fillion Captain Malcolm "Mal" Reynolds Actor Gina Torres Zoe Actor Alan Tudyk Wash Actor Sean Maher Simon Tam Actor Adam Baldwin Jayne Cobb Actor Jewel Staite Kaylee Frye Actor Summer Glau River Tam Actor Ron Glass Book Actor Morena Baccarin Inara Serra Actor Doug Savant Commander Harken Guest Star Branden Morgan Survivor Guest Star Jared Poe Ensign Guest Star Lancer Dean Shull Radio Operator Guest Star Joss Whedon Executive Producer Tim Minear Writer, Director