Captain Kathryn Janeway

• The lead character in Voyager is Captain Kathryn Janeway who was portrayed by Kate Mulgrew for the entirety of the show's run. Janeway is a tough, uncompromising captain and prefers to be referred to as 'Captain' as opposed to any female titles, such as Ma'am. After a disastrous event during which another Starfleet vessel, the Marquis, was destroyed Janeway must accommodate and integrate the new crew with her own. Janeway is a well-respected captain and she is not afraid to get her hands dirty with her knowledge of engineering and science.
  
  

Chakotay

• Chakotay, real name Amal Kotay, is the first officer on the USS Voyager and was portrayed by Robert Beltran. Chakotay is a Native American who had once attained the Starfleet rank of lieutenant commander, but then joined a rogue group called the Marquis after his father died. He is accepted aboard the USS Voyager after the Marquis vessel is destroyed. He has a tribal tattoo on his face above his left eye in honor of his father. Chakotay is well-liked aboard the Voyager and acts as a mentor to the younger members of crew.
  
  

Tuvok

• Like Spock before him, Tuvok, played by Tim Russ, is a Vulcan and the USS Voyager's lieutenant commander. Like all Vulcans, Tuvok is stoic and devoid of emotion for the most part, relying purely on logic and reason. He is the USS Voyager's safety and tactical officer. Tuvok played a vital role in infiltrating Chakotay's rogue Marquis vessel. Despite his stern reputation, Tuvok is known to show a small spectrum of emotions ranging from anger to sarcasm and annoyance.
  
  

The Doctor

• The Doctor is the USS Voyager's chief medical officer and an emergency medical holographic program, essentially a hologram that takes the form of a human male. Robert Picardo portrayed the character in all seven season of the show. As an artificial, yet sentient being, the Doctor is often seen trying to come to terms with human emotions and in this sense provides a sense of comedic relief on the show in the way he misunderstands human sayings and functions.
  
  

Tom Paris

• Tom Paris, portrayed by Robert Duncan McNeill, is the USS Voyager's chief helmsman and a sometime assistant to the Doctor. Paris was dishonorably discharged from Starfleet early on in his career for trying to cover up a pilot error which led to a crash so he was recruited as a pilot by Chakoray aboard the Marquis vessel. After the vessel was destroyed, Paris joined the Voyager. Due to his unfortunate past, Paris was looked down upon early in his career aboard the Voyager, but he eventually became one of Janeway's most trusted officers.