Bill Cosby Dr. Heathcliff "Cliff" Huxtable Actor Phylicia Rashad Clair Huxtable Actor Malcolm-Jamal Warner Theo Huxtable Actor Tempestt Bledsoe Vanessa Huxtable Actor Lisa Bonet Denise Huxtable Kendall Actor Keshia Knight Pulliam Rudy Huxtable Actor Sabrina LeBeauf Sondra Huxtable Tibideaux Actor Joe Williams Guest Star Ethel Ayler Guest Star Mario Van Peebles Guest Star