Kate Mulgrew Capt. Kathryn Janeway Actor Robert Beltran Chakotay Actor Roxann Dawson B'Elanna Torres Actor Robert Duncan McNeill Tom Paris Actor, Director Jennifer Lien Kes Actor Ethan Phillips Neelix Actor Robert Picardo The Doctor Actor, Director Tim Russ Tuvok Actor Garrett Wang Harry Kim Actor Ed Begley Jr. Henry Starling Guest Star John Rhys-Davies Leonardo da Vinci Guest Star Sarah Silverman Rain Robinson Guest Star Brad Greenquist Demmas Guest Star Charles Esten Dathan Guest Star Alexander Enberg Ensign Vorik Guest Star Allan Royal Capt. Braxton Guest Star Martha Hackett Seska Guest Star Deborah Levin Ensign Lang Guest Star Michael Ensign Bard Guest Star Lindsey Haun Belle Guest Star Rick Berman Executive Producer Jeri Taylor Executive Producer, Writer David Livingston Director Cliff Bole Director Winrich Kolbe Director Nancy Malone Director Robert Scheerer Director Michael Sussman Writer Marvin V. Rush Director Alexander Singer Writer, Director Lisa Klink Writer Brannon Braga Writer Joe Menosky Writer Ken Biller Writer Allan Kroeker Director Michael Piller Writer