• Kermit as Milo James Thatch
  • Miss Piggy as Princess Kida (adult)
  • Polly Lobster as Commander Rourke
  • Fozzie Bear as Moliere
  • Crazy Harry as Vinny
  • Dr. Phil van Neuter as Dr. Sweet
  • Gonzo as Cookie
  • Agnes Stonewick as Mrs. Packard
  • Darci as Helga
  • Statler and Waldorf (sharing the role) as The King of Atlantis
  • Clifford as Preston Whitmore
  • Sam the Eagle as Mr. Harcourt

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