* Danger Mouse: David Jason (best known for his role as Del Boy in "Only Fools and Horses") provided the voice of the titular character.
* Penfold: Terry Scott (known for his work in the "Carry On" films) voiced the bumbling but loyal hamster.
* Colonel K: Edward Kelsey (known for his roles in "The Sweeney" and "The Professionals") voiced the villainous mastermind.
* The Narrator: Peter Hawkins (famous for his voice work in various British animated shows, including "Thunderbirds") provided the narration.
While there weren't any live-action actors, the voice cast brought the characters to life, making "Danger Mouse" a beloved classic of British animation.