Many of the original cast are set to return, including Kyla Pratt as Penny Proud, Tommy Davidson as Oscar Proud, Paula Jai Parker as Trudy Proud, JoMarie Payton as Suga Mama, Cedric the Entertainer as Uncle Bobby, Carlos Mencia as Felix Boulevardez, Maria Canals-Barrera as Sunset Boulevardez, Alvaro Gutierrez as Papi, Karen Malina White as Dijonay Jones, Soleil Moon Frye as Zoey Howzer, and Alisa Reyes as LaCienega Boulevardez.
A handful of stars will be joining the show as recurring voices, including Keke Palmer as Maya Leibowitz-Jenkins; Billy Porter as Randall Leibowitz-Jenkins; Zachary Quinto as Barry Leibowitz-Jenkins; EJ Johnson as Michael Collins; Asante Blackk as Penny's boyfriend, Kareem; artist "A Boogie wit da Hoodie" Dubose as Maya's gamer brother, Francis "KG" Leibowitz-Jenkins; Raquel Lee Bolleau as Nubia Gross; and Marcus T. Paulk as Penny's classmate Myron.
On 15 Sept., Disney+ also shared a star-studded guest-voice roster, including Lizzo, Lil Nas X, Chance the Rapper, Normani, Leslie Odom Jr., Tiffany Haddish, Lena Waithe, Anthony Anderson, Gabrielle Union, Debbie Allen, James Pickens Jr., Courtney B. Vance, Jane Lynch, Marsai Martin, Jaden Smith, Glynn Turman, Lamorne Morris, Brenda Song, Tina Knowles, Eva Longoria, Holly Robinson Peete, Al Roker, Bretman Rock, Gabby Douglas, Laurie Hernandez, Dominique Dawes, and many more.