Steven Bochco Creator, Executive Producer David Milch Creator 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 Heywoo Actor Esai Morales Lt. Tony Rodriguez Actor Jacqueline Obradors Det. Rita Ortiz Actor Austin Majors Theo Sipowicz Actor Lenny Venito Julian Pisano Guest Star Nancy Cassaro Kristi Haines Guest Star J.E. Freeman Larry Jarvis Guest Star Raymond O'Connor Aldo 'The Dentist' Sanfratello Guest Star Lesli Margherita Roberta Pisano Guest Star Jeff Ricketts Paul Cooler Guest Star Tara Karsian Tish Guest Star Joe Spano Det. John Clark Sr. Guest Star Joe Sabatino Uniform 1 Guest Star Mike Sabatino Uniform 2 Guest Star George Jao TARU Tech Guest Star Mark Tinker Executive Producer, Director Bill Clark Executive Producer, Writer Nicholas Wootton Executive Producer Matt Olmstead Executive Producer, Writer