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 Carlos Jacott Lawrence Dobson Guest Star Mark A. Sheppard Badger Guest Star Andy Umberger Dortmunder Captain Guest Star Philip Sternberg Inara's Client Guest Star Eddie Adams Bendis Guest Star Colin Patrick Lynch Radio Operator Guest Star Bonnie Bartlett Patience Guest Star Domingo Vara Ensign Guest Star Stephen O'Mahoney Man Guest Star Jamie McShane Man Guest Star Joss Whedon Executive Producer