A majority of the cast from the film reprised their roles for the series. •
Hercules (voiced by
Tate Donovan) – The
hero-in-training and the son of both Zeus and Hera, in contrast to the original myth of being half-mortal, half-god. Despite this, Hercules has been referred to as a
demigod throughout the series. Hercules fluctuates between being a fearless youth in his hero training and a socially awkward teenager who goes about inadvertently destroying things or humiliating himself. •
Philoctetes (voiced by
Robert Costanzo) – The
satyr hero trainer who serves as Hercules's coach, best friend and sidekick. In the series, his training with
Odysseus and
Achilles remains intact. When asked about teenage Hercules' time attending Prometheus Academy, Phil told Megara it wasn't the most graceful period of Herc's life, partly because of Herc's flaws from his awkward phase as well as at one point sinking Phil's island briefly. Phil is one of the few characters from the original movie whose voice actor (
Danny DeVito) did not return. •
Pegasus (voiced by
Frank Welker) – The
winged horse "with the brain of a bird" formed from clouds by Zeus, he is the childhood pet and confidant of his owner Hercules. •
Icarus (voiced by
French Stewart) – Hercules' best friend, the boy who escaped from a
labyrinth with his father on wax wings appears as an
eccentric hippie (he was "brain-fried" by flying too close to the Sun). Despite his accident, Icarus still flies every chance he gets. His habit has resulted in a few more encounters with the Sun and other perils, often requiring Hercules to rescue him. Icarus is very adaptive, hence could adjust to about every situation, except when he is very jealous and acts irrationally. He could become an ultraserious soldier at
boot camp or a nearly identical version of Hades himself. Thankfully, at the end of each episode, he reverts to his own odd self. He is also completely obsessed with Cassandra and flirts with her at every opportunity he gets. His father,
Daedalus (voiced by
David Hyde Pierce), is a teacher in the academy and Icarus does not acknowledge his parents' divorce. When Icarus graduates, he goes into inventing with his father and makes a fortune, earning the commercial title "Icarus, the Wax-Wing King". •
Cassandra (voiced by
Sandra Bernhard) – The
Trojan War prophet appears as an attractive, yet antisocial girl, who has
visions of the future (usually bad) once in a while, which are rarely believed. Icarus is obsessed with marrying her, though she has shown she has no reciprocation. She tolerated his presence even before Hercules joined the trio because otherwise, she would have had no friends. Even after she gained Hercules as a friend, she still continues to socialize with Icarus. She even admitted to him that she considers him a good friend. After graduating, she joins the Oracle Friends Network. Cassandra and Icarus are the only regular characters that were not featured in the film. •
Zeus (voiced by
Corey Burton) – Hercules' father and
king of the gods, he is always ready to provide advice on hero work, but is often prone to mistakes and
recklessness, himself. •
Hades (voiced by
James Woods) – Ruler of the
Greek Underworld as well as Hercules' uncle and nemesis, he is fast-talking, duplicitous, and fiery-tempered; he constantly schemes to steal control of
Mount Olympus from his brother Zeus. • Pain and Panic (voiced by
Bobcat Goldthwait and
Matt Frewer) – Two tiny
shapeshifting imps, they are Hades' incompetent henchmen. == Production ==