Characters played by Trudy Young
Princess Melora
Characters played by Gordon Thomson
Sir Robin the Brave
Characters played by Frank Oz
Gawain
Robin the Frog (assistant)
Characters played by Jerry Nelson
Robin the Frog
Featherstone
Sweetums (assistant)
Characters played by Carl Banas
Sweetums
Characters played by Richard Hunt
Aunt Taminella (assistant)
Characters played by John Lovelady
Muppet Performer
Characters played by Danny Seagren
Muppet Performer
Characters played by Heather Henson
Little Prince Kermit
Characters played by Jim Henson
Kermit
King Rupert the Second
Garth
Characters played by Jerry Juhl
Aunt Taminella
Kay