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 Raven-Symoné Olivia Kendall Actor Elaine Stritch Guest Star Tatyana Ali Guest Star Michael A. Moran Guest Star Deon Richmond Guest Star