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 Edward Atterton Atherton Wing Guest Star Mark A. Sheppard Badger Guest Star Larry Drake Sir Warwick Harrow Guest Star Carl Bresk Wright Guest Star Larry Pennell Murphy Guest Star Michael McMillian Younger Hopeful Guest Star Joshua Grenrock Porter Guest Star Kim Onasch Banning Miller Guest Star Janora McDuffie Cabott Guest Star Joss Whedon Executive Producer