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 Isabella Hofmann Regan Tam Guest Star William Converse-Roberts Gabriel Tam Guest Star John Thaddeus Stark Guest Star Gary Werntz Patron Guest Star Andy Rolfes Marcus Grange; Older Grange Guest Star Matthew Ferreira Nathaniel Grange; Younger Grange Guest Star Joel Steingold Head Cop Guest Star Erica Tazel Doralee Guest Star Ron Ostrow Commander Guest Star Morina Pierce Ruby Guest Star Joss Whedon Executive Producer