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Main cast
- Scooby-Doo
- Don Messick (1969–1994)
- Hadley Kay (1997)
- Scott Innes (1998–2001, direct-to-video films; 2001-2006, video games)
- Neil Fanning (2002-2004, theatrical live-action films)
- Frank Welker (2002–present, shows, games, direct-to-DVD films and live-action telefilms)
- J.P. Manoux (Braniac Scooby, Scooby-Doo 2: Monsters Unleashed, 2004)
- Norville "Shaggy" Rogers
- Casey Kasem (1969–1994, 1997, 2002–2009)
- Billy West (1998)
- Scott Innes (1999–2001 direct-to-video films, 2001-2009 video games)
- Scott Menville (Shaggy & Scooby-Doo Get a Clue!, 2005–2008)
- Matthew Lillard (2002–2004, live-action films; 2010–present)
- Cascy Beddow (Young Shaggy, Scooby-Doo 2: Monsters Unleashed, 2004)
- Nick Palatas (2009-2010, live-action telefilms)
- Fred Jones, Jr.
- Frank Welker (1969–1983, 1997–present)
- Carl Stevens (A Pup Named Scooby-Doo, 1988–1991)
- Freddie Prinze, Jr. (2002–2004, live-action films)
- Ryan Vrba (Young Fred, Scooby-Doo 2: Monsters Unleashed, 2004)
- Robbie Amell (2009-2010, live-action telefilms)
- Jim Wise (singing voice, Scooby-Doo! Music of the Vampire, 2011)
- Daphne Blake
- Stefanianna Christopherson (1969–1970)
- Heather North (1970–1997, 2003)
- Kellie Martin (A Pup Named Scooby-Doo, 1988–1991)
- Mary Kay Bergman (1998–1999)
- Grey DeLisle (2000–present)
- Sarah Michelle Gellar (2002–2004)
- Emily Tennant (Young Daphne, Scooby-Doo 2: Monsters Unleashed, 2004)
- Kate Melton (2009-2010, live actress in the live-action telefilms)
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- Velma Dinkley
- Nicole Jaffe (1969–1973, 2001, 2003–2004)
- Pat Stevens (1976–1982)
- Marla Frumkin (1979)
- Christina Lange (A Pup Named Scooby-Doo, 1988–1991)
- B. J. Ward (1984, 1997–2001)
- Mindy Cohn (2002–present)
- Linda Cardellini (2002-2004, theatrical live-action films)
- Lauren Kennedy (Young Velma, Scooby-Doo 2: Monsters Unleashed, 2004)
- Hayley Kiyoko (2009-2010, live actress in the live-action telefilms)
- Bets Malone (singing voice, Scooby-Doo! Music of the Vampire, 2011)
- Scrappy-Doo
- Lennie Weinrib (1979–1980)
- Don Messick (1980–1986)
- Scott Innes (Scooby-Doo, 2002; Harvey Birdman, Attorney at Law episode "Shaggy Busted")
- J.P. Manoux (Scrappy-Rex, Scooby-Doo, 2002)
- Other regular characters
- Daws Butler as Scooby-Dum (recurring, 1976)
- Susan Blu as Flim-Flam (The 13 Ghosts of Scooby-Doo, 1985)
- Howard Morris as Bogel (The 13 Ghosts of Scooby-Doo, 1985)
- Arte Johnson as Weerd (The 13 Ghosts of Scooby-Doo, 1985)
- Scott Menville as Red Herring (A Pup Named Scooby-Doo, 1988–1991)
- Jennifer Hale, Kimberly Brooks and Jane Wiedlin as Thorn, Luna and Dusk from The Hex Girls (recurring, 1999–present)
- Vincent Price as Vincent Van Ghoul (The 13 Ghosts of Scooby-Doo, 1985–1986)
- Maurice LaMarche as Vincent Van Ghoul (Scooby-Doo! Mystery Incorporated, 2010–2011)
- Patrick Warburton as Sheriff Bronson Stone
- Linda Cardellini as Hot Dog Water (Scooby-Doo! Mystery Incorporated, 2011–present)
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