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 Christina Hendricks Saffron Guest Star Franc Ross Monty Reynolds Guest Star Dwier Brown Durran Haymer Guest Star John Eric Bentley Police Sergeant Guest Star Joss Whedon Executive Producer