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 Genevieve Allenbury Guest Star Stanley Townsend Guest Star Kemaal Deen-Ellis Guest Star Clare Foster Guest Star Muzz Khan Guest Star Robert Lindsay Guest Star Greg Wise Guest Star Saikat Ahamed Guest Star Neal Barry Guest Star Samuel Burton Guest Star Marc Danbury Guest Star Earth-G Guest Star Jason Rochefort Guest Star Aaron Turner Guest Star Joanna Wake Guest Star Dan Fogelman Executive Producer Alan Menken Executive Producer Glenn Slater Executive Producer Chris Koch Executive Producer Scott Weinger Writer Paul Murphy Director