| Cast list |
| Anthony Andrews | as | Nero (5 episodes, 1985) |
| Colleen Dewhurst | as | Antonia (5 episodes, 1985) |
| Ava Gardner | as | Agrippina (5 episodes, 1985) |
| David Hedison | as | Porcius Festus (5 episodes, 1985) |
| John Houseman | as | Gamaliel (5 episodes, 1985) |
| Richard Kiley | as | Claudius (5 episodes, 1985) |
| Ian McShane | as | Sejanus (5 episodes, 1985) |
| Jennifer O'Neill | as | Messalina (5 episodes, 1985) |
| Millie Perkins | as | Mary (5 episodes, 1985) |
| Denis Quilley | as | Peter (5 episodes, 1985) |
| Fernando Rey | as | Seneca (5 episodes, 1985) |
| Richard Roundtree | as | Serpenius (5 episodes, 1985) |
| Susan Sarandon | as | Livilla (5 episodes, 1985) |
| Ben Vereen | as | Ethiopian (5 episodes, 1985) |
| Tony Vogel | as | Aquila (5 episodes, 1985) |
| Jack Warden | as | Nerva (5 episodes, 1985) |
| Neil Dickson | as | Valerius (5 episodes, 1985) |
| Cecil Humphreys | as | Caleb (5 episodes, 1985) |
| Amanda Pays | as | Sarah (5 episodes, 1985) |
| Philip Sayer | as | Paul / ... (5 episodes, 1985) |
| Diane Venora | as | Corinna (5 episodes, 1985) |
| Vincent Riotta | as | Stephen (5 episodes, 1985) |
| Rebecca Saire | as | Ruth (5 episodes, 1985) |
| Tom Durham | as | Cleopas (5 episodes, 1985) |
| Anthony Pedley | as | Zacchaeus (5 episodes, 1985) |
| Harold Kasket | as | Caiaphas (5 episodes, 1985) |
| Ralph Arliss | as | Samuel (5 episodes, 1985) |
| Mike Gwilym | as | Pallas (5 episodes, 1985) |
| Davyd Harries | as | Thomas (5 episodes, 1985) |
| Norma Martinelli | as | Apicata (5 episodes, 1985) |
| Bruce Winant | as | Seth (5 episodes, 1985) |
| Jonathan Hyde | as | Tigellinus (5 episodes, 1985) |
| Damien Thomas | as | Herod Agrippa (5 episodes, 1985) |
| Derek Hoxby | as | Agrippa II (5 episodes, 1985) |
| Angela Morant | as | Priscilla (5 episodes, 1985) |
| Clive Arrindell | as | Cassius Chaerca (5 episodes, 1985) |
| Paul Freeman | as | Cornelius (5 episodes, 1985) |
| Andrea Prodan | as | Brittanicus / ... (5 episodes, 1985) |
| Akosua Busia | as | Acte (5 episodes, 1985) |
| Vernon Dobtcheff | as | Flavius Sabinus (5 episodes, 1985) |
| Jane How | as | Poppea (5 episodes, 1985) |
| Jonathan Tafler | as | Aaron (5 episodes, 1985) |
| Barrie Houghton | as | Ananias The Essene (5 episodes, 1985) |
| Maggie Wickman | as | Apicata (5 episodes, 1985) |
| Alan Downer | as | Barnabas (5 episodes, 1985) |
| Martin Potter | as | Gaius Calpernius Piso (5 episodes, 1985) |
| Colin Haigh | as | James (5 episodes, 1985) |
| Philip Anthony | as | James the Elder (5 episodes, 1985) |
| Renato Scarpa | as | Lucius Marinus (5 episodes, 1985) |
| Roderick Horn | as | Marcellus (5 episodes, 1985) |
| John Wheatley | as | Marcus I (5 episodes, 1985) |
| David Sumner | as | Mathias (5 episodes, 1985) |
| Stephen Finlay | as | Nicanor (5 episodes, 1985) |
| Katia Dandoulaki | as | Octavia (5 episodes, 1985) |
| Eddie Grossman | as | Parmenas (5 episodes, 1985) |
| David Brandon | as | Petronius (5 episodes, 1985) |
| Robert Wentz | as | Thrasyllus (5 episodes, 1985) |
| John McEnery | as | Caligula (3 episodes, 1985) |
| Richard Kane | as | Agrippa III (3 episodes, 1985) |
