Steven Bochco Creator, Executive Producer David Milch Creator, Executive Producer Dennis Franz Det. Sgt. Andy Sipowicz Actor Ricky Schroder Det. Danny Sorenson Actor James McDaniel Lt. Arthur Fancy Actor Kim Delaney Diane Russell Actor Gordon Clapp Det. Greg Medavoy Actor Nicholas Turturro Detective James Martinez Actor Andrea Thompson Det. Jill Kirkendall Actor Bill Brochtrup John Irvin Actor Henry Simmons Det. Baldwin Jones Actor Peter Jurasik Dave Lorinz Guest Star Regina Hall Shanice Warner Guest Star Nigel Thatch Paul Watson Guest Star James Pickens Jr. Lt. Joe Abner Guest Star Sherry Hursey Sara Lorenz Guest Star Sandra Purpuro Angela Zarelli Guest Star Eddie Zammit Joe Sambora Guest Star Mark Tinker Executive Producer, Director Bill Clark Executive Producer Jody Worth Writer Robert J. Doherty Director Robert Doherty Producer