The voices for the characters were provided by a cast of British voice actors, including:
* David Jason as Zebedee, the grumpy but lovable tugboat
* John Alderton as Ten Cents, the optimistic and resourceful tugboat
* Bernard Cribbins as Big Mac, the strong and loyal tugboat
* David Lumsden as Starlight, the fast and confident tugboat
* John Woodnutt as Warrior, the tough and boastful tugboat
* Derek Griffiths as Sunshine, the friendly and helpful tugboat
* Prunella Scales as Topsy, the charming and mischievous tugboat
* Richard Briers as O.J., the old and wise tugboat
The series also featured several other voice actors, including:
* June Whitfield
* Richard Wilson
* Josephine Tewson
* Michael Hordern
* Charles Collingwood
* Peter Jones
* Bill Wallis
* Kenneth Connor
* Sheila Hancock
While the actors' names may be familiar, they were not physically present during the production of the series. The characters were all brought to life through the skilled work of animators and puppeteers.