Angie Harmon Detective Jane Rizzoli Actor Sasha Alexander Maura Isles Actor Lorraine Bracco Angela Rizzoli Actor Bruce McGill Detective Vince Korsak Actor Jordan Bridges Frankie Rizzoli Jr. Actor Jenn Proske Lily Green Guest Star Barbara Eve Harris Camille Frost Guest Star Ernie Hudson Admiral Frost Guest Star Mercedes Colon Robin Jackson Guest Star Brian Goodman Lt. Detective Sean Cavanaugh Guest Star Stacey Bender Funeral Guest Guest Star Jeremy Guskin Todd Guest Star Helen Highfield Teacher Guest Star Barry Livingston Roger Wise Guest Star Orion McCabe Bagpiper at Funeral Guest Star Jack Mikesell Toby Warren Guest Star Arnell Powell Cop Guest Star Steve Wong Detective Boston Guest Star Chris Ghandour Funeral Guest Guest Star Christopher Glenn Medical Student Guest Star Janet Tamaro Executive Producer Bill Haber Executive Producer Joel Fields Executive Producer Michael M. Robin Consulting Producer