Joshua Sasse Galavant Actor Timothy Omundson King Richard Actor Vinnie Jones Gareth Actor Mallory Jansen Madalena Actor Karen David Isabella Actor Luke Youngblood Sid Actor Ben Presley Guest Star Darren Evans Guest Star Stanley Townsend Guest Star Genevieve Allenbury Guest Star John Stamos Guest Star Hugh Bonneville Guest Star Sophie McShera Guest Star Simon Williams Guest Star Kemaal Deen-Ellis Guest Star Daniel Hoffmann-Gill Guest Star Kylie Minogue Guest Star Adam Loxley Guest Star Jonny Emmett Guest Star Paul Casar Guest Star Simon Meacock Guest Star Brendon Berg Guest Star Ewen MacIntosh Guest Star Martin Collins Guest Star Dan Fogelman Executive Producer, Writer Alan Menken Executive Producer Glenn Slater Executive Producer Chris Koch Executive Producer John Fortenberry Director