David Milch Creator Steven Bochco Creator, Executive Producer Dennis Franz Det. Sgt. Andy Sipowicz Actor Mark-Paul Gosselaar Det. John Clark, Jr. Actor Gordon Clapp Det. Greg Medavoy Actor Charlotte Ross Det. Connie McDowell Actor Henry Simmons Det. Baldwin Jones Actor Bill Brochtrup John Irvin Actor Garcelle Beauvais-Nilon A.D.A. Valerie Heywood Actor Esai Morales Lt. Tony Rodriguez Actor Jacqueline Obradors Det. Rita Ortiz Actor Austin Majors Theo Sipowicz Actor Jessica Ferrarone Angela Lupo Guest Star Frederick Koehler Michael Cardillo Guest Star Gregory Itzin Martin Walsh Guest Star Sara Botsford Helen Walsh Guest Star Scott Allan Campbell IAB Sgt. Jerry Martens Guest Star Ryan Cutrona Gene Cardillo Guest Star Steven Gilborn Dr. Corey Barrish Guest Star Lisa Dean Ryan Dr. Jane Henderson Guest Star Jennifer Tung Ella Dotson Guest Star Elena Evangelo Paula Scolaro Guest Star Joe Spano Det. John Clark Sr. Guest Star Michael Olifiers Uniform Guest Star Chris Freeman Mover Guest Star Mark Tinker Executive Producer Bill Clark Executive Producer, Writer Nicholas Wootton Executive Producer, Writer Matt Olmstead Executive Producer, Writer Jody Worth Writer Tawnia McKiernan Director