* Hal Linden as Captain Barney Miller: The kind yet often exasperated captain of the 12th Precinct.
* Maxwell Gail as Sergeant Stanley "Wojo" Wojciehowicz: The lovable, somewhat inept, and always enthusiastic officer.
* Ron Glass as Sergeant Ron Harris: The stoic, intelligent, and often sarcastic officer.
* Abe Vigoda as Detective Phil Fish: The cynical, grumpy, and often unreliable detective.
* Jack Soo as Detective Nick Yemana: The short-tempered, yet insightful and well-meaning detective.
* James Gregory as Lieutenant Arthur Dietrich: The stern and often-rigid superior officer to Captain Miller.
* Barbara Barrie as Officer Elizabeth "Liz" Miller: The only female officer and a capable policewoman with a dry sense of humor.
* Gregory Sierra as Officer Miguel "Chano" Amenguiano: The energetic, sometimes bumbling, and often comical Hispanic officer.
The show also featured a number of recurring characters, including:
* David Graf as Officer Michael "Sweety" Sweet: The bumbling, easily intimidated officer who often found himself in trouble.
* Janet DuBois as Officer Janet Harris: The often-sarcastic and cynical officer who was introduced in the fourth season.
* Stephen Collins as Detective Norman "Norm" Harris: Ron Harris's younger brother and partner, who appeared in the later seasons.
The ensemble cast of Barney Miller was known for its chemistry and the witty, observational humor of the show.