David Milch Creator, Executive Producer, Writer Steven Bochco Creator, Executive Producer Jimmy Smits Det. Bobby Simone Actor Dennis Franz Det. Sgt. Andy Sipowicz Actor James McDaniel Lt. Arthur Fancy Actor Nicholas Turturro Detective James Martinez Actor Gordon Clapp Det. Greg Medavoy Actor Kim Delaney Diane Russell Actor Andrea Thompson Det. Jill Kirkendall Actor Sam Whipple Willy Guest Star Gabrielle Fitzpatrick Naomi Reynolds Guest Star Mary Mara Linda Walker Guest Star Reno Wilson Roger Guest Star Tom O'Brien Gary Walker Guest Star Daniel Escobar Tim Jones Guest Star Jullian Dulce Vida Rico Perez Guest Star Keith Amos Jeb Taylor Guest Star Al White Crawford Green Guest Star Fiona Hale Mavis Shatzi Guest Star Betty A. Bridges Charlotte Guest Star Bill Clark Writer Meredith Stiehm Writer Mark Tinker Director, Executive Producer