• Elmo as Scamp/Tramp (Zoe and Elmo 1)
  • Grover as Tramp (from Zoe and Grover 2)/Tony (Zoe and Grover 1)
  • Ernestine as Angel
  • Zoe as Lady
  • Huxley as Buster
  • Buddy/Jim as Jock
  • Telly as Trusty
  • Cookie Monster as Tony (Zoe and Grover 2)
  • Barney as Joe (Zoe and Grover 2)
  • Big Bird as Mooch/Joe as (from Zoe and Elmo 1)
  • Ernie as The Beaver
  • Snuffy as Junior
  • Frazzle as Bulldog
  • Oscar as Francis
  • Sunny Friendly as Jim Dear
  • Sully and Biff as Si and Am
  • Bert as The Dog Catcher
  • Rosita as Scamp's Sister 1
  • Grundgetta as Scamp's Sister 2
  • Abby as Scamp's Sister 3
  • Prairie Dawn as Ruby
  • Maria as Aunt Sarah
  • Mr. Johnson as Scratchy

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