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Nathan Fillion as Jonathan "John" Nolan: The oldest rookie at the Los Angeles Police Department (LAPD), he is assigned to the Mid-Wilshire Division. He was studying at Pennsylvania State University, but dropped out and went into the construction business upon learning Sarah, his girlfriend (and eventual wife), was pregnant. At the age of 45, when facing a divorce notice, Nolan talks down a robbery attempt at a bank in his hometown of Foxburg. With a newfound purpose, he closes his construction company in Pennsylvania and moves out west to become a police officer. He is divorced, and Henry, his son, is away at college. Nolan becomes a training officer in the later seasons to teach the next generation of cops and help make positive change in the LAPD.

Alyssa Diaz as Angela Lopez: An LAPD officer, she is assigned as the training officer to Jackson West. She marries Wesley Evers and becomes a detective and mother of two in the later seasons.

Richard T. Jones as Wade Grey: A sergeant (later lieutenant), watch commander at the Mid-Wilshire Station, Grey initially believes Nolan may be changing careers because of a midlife crisis and doubts he is suitable for police work, but later comes to recognize him as a capable and competent police officer and friend. Grey served in the Army before joining the LAPD. He has a daughter who is attending college in New York City. He later takes a job in the FBI as a senior liaison.

Titus Makin Jr. as Jackson West (seasons 1–3): An eager, if somewhat naive, rookie, he is the son of Commander Percy West, head of the LAPD's Internal Affairs Division. At the top of his class at the police academy, he is firmly committed to the LAPD and strives to be the best officer he can be, as he wants to maintain his family's traditions. He is killed in the fourth season premiere while trying to resist his and Lopez's abductions by La Fiera.

Mercedes Mason as Zoe Andersen (season 1; guest season 3): Nolan's confident and irreverent commanding officer. Andersen, a police captain, used to be a Marine serving with the military police. After leaving the Marine Corps, she spent a year with the United States Pentagon Police Criminal Investigations Directorate before joining the LAPD. Because of her prior experience, Andersen has risen through the ranks very quickly, to the point where some of her officers see her more as a boss than a fellow officer. She is shot and killed late in the first season while protecting Nolan from a vengeful criminal.

Melissa O'Neil as Lucy Chen: An ambitious rookie, she struggles to prove herself to Tim Bradford, her training officer. Her parents are psychologists who remain opposed to her choice of career. She later qualifies to become an undercover officer and starts dating Tim. She becomes a temporary training officer and a sergeant afterwards.

Afton Williamson as Talia Bishop (season 1): A newly promoted training officer, her first assignment is Nolan. Ambitious, she tries hard to make detective and hopes to eventually work her way up to chief of police. She leaves the LAPD between the first and second seasons after information from her past that she withheld is brought to light and threatens to stall her career. She then joins the ATF for a fresh start.

Eric Winter as Timothy "Tim" Bradford: A strict, no-nonsense training officer, he is assigned Lucy as a rookie and gives her a hard time, but treats her fairly. He used to be a U.S. Army staff sergeant who served in Iraq and Afghanistan before joining the LAPD. He later becomes a sergeant and watch commander.

Mekia Cox as Nyla Harper (season 2–present): Nolan's second training officer, a tough, experienced detective who is leaving behind four years of undercover work so she can return to patrol. After training Nolan and Aaron, marrying James Murray, and giving birth to a daughter named Leah, she returns to being a detective and is partnered with Angela Lopez. An incident in season 8 forces Harper to go back into uniformed service, where she takes over Miles Penn's training after his suspension.

Shawn Ashmore as Wesley Evers (season 3–present; recurring seasons 1–2): A defense lawyer with whom Lopez initially clashes, but later starts dating. The two eventually marry and have a son named Jackson, or "Jack", and a daughter named Emmy. He later takes a job as an assistant district attorney, later running and losing the race for Los Angeles County District Attorney in season 8. The victor's actions then spur him to quit the DA's office and go back to being a defense attorney.

Jenna Dewan as Bailey Nune (season 4–present; guest season 3): A firefighter lieutenant, she first appears at Nolan's door in only a towel and later becomes his wife by the sixth season. Before joining the LAFD, she served in the Army and remains a reservist.

Tru Valentino as Aaron Thorsen (seasons 5–6; recurring season 4; guest season 8): A new rookie who was involved in a French murder case in which he was found not guilty. He comes from a wealthy background and was an internet celebrity before his arrest and trial. He transfers to the Hollywood Division for a fresh start following the scandal caused by corrupt police psychologist Blair London.

Lisseth Chavez as Celina Juarez (season 6–present; recurring season 5): Nolan's enthusiastic new rookie. She joined the academy to solve her sister's disappearance. Initially, she causes trouble for Nolan, as she is very superstitious. She is close friends with Bailey Nune and Aaron Thorsen.

Deric Augustine as Miles Penn (season 8; recurring season 7): One of the newest rookies in the LAPD. He spent two years with the Sugar Land Police Department in Texas after being injured during a football career in college. He is assigned to Tim, then Nolan, and then Harper as his training officer.

Recurring

Mircea Monroe as Isabel Bradford (season 1; guest season 5): Tim Bradford's ex-wife. She is a former undercover narcotics officer who developed a drug addiction as a result of her work. Tim breaks up with her to give her time to recover. She later reappears in season 5, after becoming sober, so she and Lucy can go undercover together.

Sara Rue as Nell Forester (seasons 1–2; guest seasons 4, 6): A dispatcher for the LAPD. Tim bribes her to get the best calls. She is later revealed to be dating Elroy Basso.

Currie Graham as Ben McRee (season 1; guest season 3): Nolan's friend since their school days. He lets Nolan stay in his mansion as a house guest until Nolan moves out. He leaves Los Angeles after being assaulted by a mugger who steals his car.

Sarah Shahi as Jessica Russo (seasons 1–2): A former FBI hostage negotiator. She now runs her own security firm and is a published author. She later takes a job with the Department of Homeland Security while briefly dating Nolan. They break up when she realizes he is not ready to have more kids.

Demetrius Grosse as Kevin Wolfe (season 1): A detective who is assigned to Isabel's case. He does not return after the death of his friend Detective Vestri.

David DeSantos as Elijah Vestri (season 1): A detective who is assigned to Isabel's case. He dies of gunshot injuries sustained in an ambush, that also wounds his friend Detective Wolfe.

Zayne Emory as Henry Nolan (seasons 1–3; guest seasons 4, 6): John Nolan's son. He is a freshman in college, but drops out to work for Ben McRee's foundation. He becomes engaged to his girlfriend, Abigail, in the second season. In season 3, he is revealed to have tetralogy of Fallot, a congenital heart condition. He and Abigail eventually split up, as revealed in season 7.

Michael Beach as Percy West (seasons 1, 3; guest season 6): Jackson's father, the commander of Internal Affairs. Oscar Hutchinson accuses him to Jackson of being a dirty cop back in the old days, causing a momentary rift between him and Jackson.

Brent Huff as Quigley Smitty: A well-intentioned yet lazy police officer who does the bare minimum. He lives in "Shangri-La", a trailer community parked across the street from Mid-Wilshire. He was the station's union representative for years before being voted out and replaced by Nolan in season 4.

Jasmine Mathews as Rachel Hall (seasons 2, 7): Lucy Chen's friend from college. She becomes romantically involved with Tim Bradford before taking a job in New York.

Michael Trucco as Sean Del Monte: An assistant district attorney who assigns Nolan and Tim to a protective detail. He later decides to run for district attorney, but drops out after his son's life is threatened.

Angel Parker as Luna Grey (seasons 1, 3–present): Wade Grey's wife and mother of their daughter Dominique.

Matthew Glave as Oscar Hutchinson: A prisoner who escapes from a prison bus crash. He is later apprehended by Lopez and Jackson. Oscar eventually helps the precinct officers as an informant on several cases involving former prisoners, even helping Nolan and Harper save the warden's life. It is revealed he has a daughter Ashley from a previous relationship, when his DNA is a partial match in a crime. He later escapes prison.

Harold Perrineau as Nicholas "Nick" Armstrong (season 2; guest season 3): A new night detective recently reassigned to Mid-Wilshire. Initially a role model for Nolan, he is later revealed to be a dirty cop working for a crime family. He attempts to set Nolan up but fails, his scrutiny by the division makes him a liability. He is double crossed and killed by his associates when he attempts to kill Nolan.

Daniel Lissing as Sterling Freeman / Skipper Young (season 2; guest season 3): A celebrity actor starring in a popular police procedural show. He briefly becomes Jackson's boyfriend before he is revealed to be a former Australian criminal named Skipper Young.

Ali Larter as Dr. Grace Sawyer (season 2): A doctor at Shaw Memorial Hospital and Nolan's former college girlfriend with whom he briefly reconciles. They end things after she decides to give her marriage another try for her son.

Enver Gjokaj as Donovan Town (seasons 2, 4): Harper's ex-husband, who initially has full custody of their daughter Lila. He later agrees to split custody for Lila's sake following Harper's decision to leave undercover work.

Carsyn Rose as Lila Town (seasons 2, 4; guest seasons 5, 8): Harper's daughter from her marriage to Donovan.

Madeleine Coghlan as Abigail Tierney (seasons 2–3; guest seasons 7-8): Henry Nolan's ex-fiancée. She has a criminal record for arson, despite it being retaliation against her ex for revenge porn.

Annie Wersching as Rosalind Dyer (seasons 2, 5; guest season 3): A serial killer. She was arrested by Nick Armstrong, which led to her conviction for multiple murders. Rosalind later escapes prison.

Jeff Pierre as Emmett Lang (season 2): A firefighter who is a friend of Tim Bradford's. He briefly dates Lucy.

Hrach Titizian as Ruben Derian (season 2; guest season 3): A member of the Derian crime family.

Brandon Routh as Doug Stanton (season 3): Jackson's new training officer after Lopez is promoted to detective. Despite having 14 years of service he has immoral ethics and is prone to racial profiling. He is fired after leaving Jackson to suffer a beating from which he nearly dies, after he threatens West's career, West threatens him, warning him that his father is an Internal Affairs commander. He appeals his termination and is successful in getting reinstated to another division, during Patrol he and West meet again and falsely telling his new colleagues that West caused his termination angering West. Jackson and West reveal his actions ensuring his colleagues know that Stanton "won't have your back. When you need it the most". Leaving Stanton's reputation in the LAPD is ruined beyond rehabilitation

Arjay Smith as James Murray (season 3–present): A resident in the neighbourhood where Nolan and Harper are assigned to community outreach. He and Harper date and eventually marry.

Toks Olagundoye as Fiona Ryan (season 3): A professor in ethics and criminal justice. Nolan attends her night classes to finish school and qualify as a training officer. She is also a well-known activist in civil rights and police reform. She has authored a book about racial inequality in the justice system.

Dylan Conrique as Tamara Colins (season 3–7): A homeless and orphaned high school student who steals Lucy's car. Lucy ultimately decides not to press charges, and they later become roommates and close friends. She becomes engaged to Seth Ridley until he reveals his lies and breaks off the engagement.

Camille Guaty as Sandra "La Fiera" de la Cruz (season 3; guest season 4): A Guatemalan businesswoman and drug lord who initially makes gestures of friendship to Lopez. She kidnapped Lopez after her son, Diego, was killed by a rival gang, hoping to steal the baby. Her plan failed, and she was shot dead by Angela Lopez.

Brandon Jay McLaren as Elijah Stone (seasons 4–5; guest season 8): A crime boss who forces Wesley onto his payroll in exchange for information on how to retrieve Lopez from Guatemala. He is later arrested after several encounters with the LAPD.

Gigi Zumbado as Abril Rodas (seasons 4–5): A vengeful hitwoman working for La Fiera as her right-hand woman and trusted enforcer.

Kanoa Goo as Chris Sanford (seasons 4–5): A deputy district attorney and Lucy Chen's ex-boyfriend.

Flula Borg as "Skip Tracer" Randy Spitz (season 4–present): A German bounty hunter and skip tracer. He occasionally works with the LAPD, first with Harper and eventually with Nolan in particular. He is eccentric and fails to understand personal boundaries.

Peyton List as Genny Bradford (seasons 4-5, 7-present): Tim Bradford's younger sister.

Steve Kazee as Jason Wyler (season 4; guest seasons 6–7): Bailey's psychologically abusive ex-husband.

Bridget Regan as Monica Stevens (season 5–8): A lawyer and criminal mastermind who has represented many criminals in Los Angeles. She is first introduced as Elijah's new lawyer and Wesley's ex-fiancée.

Danielle Campbell as Blair London (season 6): An LAPD psychiatrist who is assigned to help many officers, including Aaron Thorsen.

Patrick Keleher as Seth Ridley (season 7–present): A nervous rookie who is good friends with Miles, Seth is a pathological liar who created several false, self-serving narratives, notably faking a cancer relapse. Seth leaves the force after saving Nolan during a shootout at the cost of a below-knee amputation and later comes clean about his lies.

Zander Hawley as Rodge Bronson (season 7–present; guest seasons 5–6): A musician Nolan runs into while responding to a call. He writes and sings humorous songs about his encounters with Nolan. He begins dating Celina in season 7.

Seth Gabel as Liam Glasser (season 7–present): A vending machine supplier whom Harper suspects of being a serial killer.

Necar Zadegan as Vivian Eckert (seasons 7–8): An ambitious ADA whom Wesley runs against in the race for District Attorney of Los Angeles.

Sean Patrick Thomas as Malcolm Walsh (season 8): The defense lawyer for Liam Glasser. Wesley suspects he is unethical and engaging in criminal behavior to get his client acquitted.

Notable guests

Danny Nucci as Sanford Motta: An arrogant assault detective who looks down on rookies.

Shawn Christian as Jeremy Hawke: Nolan's former training officer at the academy who goes rogue.

Joelle Carter as Megan Mitchell: Jeremy's ex-wife who is fighting with him over custody of their son Logan.

Niko Nicotera as Carson Miller: Isabel's former boyfriend and a drug dealer.

Jose Pablo Cantillo as Franco DeSantis: A drug dealer who steals money from a drug bust after being tipped off.

Beau Garrett as Denise: A woman whom Nolan rescues on Valentine's Day, who has an unhealthy obsession with him.

Sean Maher as Caleb Jost: A prisoner who escapes from a prison bus crash but is later apprehended by Nolan, Talia, and Jessica.

Mario Lopez as himself: A celebrity pulled over by Tim and Lucy for running a stop sign who tries to talk his way out of a ticket as part of an integrity test by Internal Affairs.

Joel McHale as Brad Hayes: A former border patrol officer who smuggles people for a cartel and is under the protective detail of Tim and Nolan.

Ashley Argota as Bella: A woman arrested by Tim and Lucy.

Jim Lau as Patrick Chen: Lucy Chen's father, who is injured by one of his patients and forced to go to the hospital. He later has an argument with Lucy regarding the LAPD's handling of mental health cases.

will.i.am as himself: A celebrity who appears when a silent alarm is tripped at his residence, caused by a man who accidentally parachuted into the wrong yard and became stuck in a tree.

Stephen Lang as Trent Williams: The LAPD chief of police. He administers the oral exam to Nolan, Lucy, and Jackson during their midterm exam.

Felicia Day as Dr. Morgan: A CDC task-force specialist in infectious diseases.

Mark Cuban as himself: A celebrity who appears when Nolan and Grey respond to a disturbance at his restaurant.

Mitch Pileggi as Rex: A bounty hunter and retired LAPD officer. He is good friends with Tim.

Seamus Dever as Chaz Bachman: A lawyer who is arrested by Nolan and Lopez for buying drugs.

Jon Huertas as Alejandro Mejia / Cesar Ojeda: An undercover DHS agent who is compromised and nearly killed by two assailants seeking information from him.

Lauren Tom as Mrs. Chen: Lucy Chen's mother, who comes to stay at her apartment briefly after arguing with Lucy's father.

Eric Weddle as himself: An NFL player who appeared during a Los Angeles Rams junior football camp. He was a high school football adversary of Tim's.

Robert Woods as himself: An NFL player who appeared during a Los Angeles Rams junior football camp.

Alan Tudyk as Elroy Basso: An employee of the LAPD who helps clean up crime scenes. He and Nolan later apprehend a group of criminals when they return to the scene of a crime. He is later seen to be in a relationship with Nell Forester.

Michael Cassidy as Caleb Wright: A man Lucy meets at a bar who later turns out to be a serial killer and Rosalind Dyer's associate.

Pete Davidson as Pete Nolan: John Nolan's half-brother, whom he meets following their father's death.

Seth Green as Jordan Neil: A man who steals Nolan's identity, causing his credit score to go down.

Greg Grunberg as Larry "Badger" Macer: A former LAPD officer who was released after he misfired his gun during his first roll call. He is now a sergeant with the railroad police.

Roselyn Sánchez as Valerie Castillo: An ambitious reporter.

Bailey Chase as Michael Banks: A DEA agent who assists Nolan and Harper during a drug raid.

Don Swayze as Sharp: A prison guard at the California Correctional Facility who assists Nolan and Harper during a riot.

Hannah Kasulka as Erin Cole: A rookie officer who is later revealed to be a dirty cop working for the Derians and who is shot dead by Armstrong.

Christopher O'Shea as Chris Rios: A rookie officer who is fatally shot by Serj Derian, leaving Jackson devastated as the two had been close friends.

Armin Shimerman as Judge Paloma: The on-call judge who approves the warrant for Nolan's arrest during the third season.

Frances Fisher as Evelyn Nolan: John Nolan's overbearing and manipulative mother.

Frankie Muniz as Corey Harris: A former child actor who now runs a cult.

Skyler Samuels as Charlotte Luster: Corey's childhood co-star and friend.

Rainn Wilson as himself: A celebrity who owns the mummified body of Charlie Chaplin and is interviewed by a true crime documentary.

Molly Quinn as Ashley: The daughter of prisoner Oscar Hutchinson, who is a person of interest in a kidnapping case.

Katy O'Brian as Katie Barnes: A new rookie in the LAPD who is a war veteran. Tim is assigned as her training officer, but she later resigns from the job.

Emily Deschanel as Sarah Nolan: Nolan's ex-wife and mother to their son Henry.

Kyle Secor as Sam Taggart: A DEA special agent assigned to the La Fiera case.

Joshua Malina as Max: A man with ties to U.S. intelligence.

Tricia Helfer as Claire Ivey: A master thief whom Angela Lopez was after for five years but was unable to capture.

Kathryn Prescott as Katerina Antonov / Linda Charles: A Russian FSB case officer who went rogue and was planning to kill all the men involved in a drone strike that killed her brother.

Piper Curda as Billie Park: A drug mule who was arrested by Jackson and Lucy when she attempted to flee during a rolling stop.

Peter Onorati as Jerry McGrady: A police officer who rides his final shift with Tim before finally retiring after 43 years of service.

Helena Mattson as Ashley McGrady: Jerry McGrady's daughter. She is a lifeguard who has a brief relationship with Tim.

James Remar as Tom Bradford: Tim and Genny Bradford's alcoholic and abusive father.

Eric Winter and Melissa O'Neil as Jake Butler and Sava Wu, a drug trafficker and his girlfriend who are the doppelgängers of Tim and Lucy, consequently nicknamed "Dim" and "Juicy" by the other. Tim and Lucy go undercover as them to take down a drug operation.

Tamala Jones as Yvonne Thorsen: Aaron Thorsen's wealthy mother. She is trying to publicize his life as a police officer.

Thomas Dekker as Jeffrey Boyle / Eli Reynolds: An acolyte of Rosalind Dyer.

Kelly Clarkson as herself

Kyle Schmid as Noah Foster: An undercover detective who was a classmate of Lucy's.

Preeti Desai as Charlie Bristow: A private security agent hired by Wesley.

Nisalda Gonzalez as Daylin Morales: The girlfriend of Abril Rodas and first lieutenant of the Malos Dorales under her leadership.

Lance Bass as himself

Jake Tapper as himself

David Dastmalchian as Ray Watkins: A former member of Tim's army squad who betrayed him in the past.

Neil Hopkins as Eric Ramsey: An enigmatic businessman and criminal.

Jimmy Gonzales as Malvado: A hitman who is trying to kill Jason Wyler.

Noel Fisher as Harrison Novak: A serial killer.

Maria Zhang as Kylie Thomas: A friend of James who is being targeted by the Sixth Street Devils gang.

Cooper Manning as himself

Beckett Hawley as Dash: A teenager who is skilled with cameras and drones.

Sela Ward as Joy Bradford: Tim and Genny's mother, from whom Tim concealed his divorce from Isabel and his relationship with Lucy.

Charles Michael Davis as Dr. Oliver Ashton: A doctor at St. Stephens Hospital whom Luna admits to Wade she is having emotional feelings for.

Michael Nouri as Pierre: Aaron's personal jeweler, who helps Tim pick out an engagement ring for Lucy.