Judd Nelson Hot Rod / Rodimus Prime (voice) Peter Cullen Optimus Prime (voice) Frank Welker Megatron / Soundwave / Rumble (voice) Leonard Nimoy Galvatron (voice) Orson Welles Unicron (voice) Casey Kasem Cliffjumper (voice) Dan Gilvezan Bumblebee (voice) Scatman Crothers Jazz (voice) Susan Blu Arcee (voice) Eric Idle Wreck-Gar (voice) Robert Stack Ultra Magnus (voice) Norman Alden Kranix / Arblus (voice) Jack Angel Astrotrain (voice) Michael Bell Prowl / Scrapper / Swoop / Junkion (voice) Gregg Berger Grimlock (voice) Lionel Stander Kup (voice) John Moschitta Jr. Blurr (voice) Buster Jones Blaster (voice) Paul Eiding Perceptor (voice) Neil Ross Bonecrusher / Hook / Springer / Slag (voice) Corey Burton Brawn (voice) Roger C. Carmel Cyclonus (voice) Arthur Burghardt Devastator (voice) Roger C. Carmel Cyclonus / Quintesson Leader (voice) Don Messick Scavenger (voice) Corey Burton Brawn / Shockwave / Spike Witwicky (voice)