Main

• Jay Laga'aia as David Silesi^[3][1]
• Katherine Kennard as Joni Collins^[3][1]
• Daniel Gillies as Tim O'Connor^[1] (series 1–2)
• Charles Mesure as Kees Van Dam^[3][1]
• Dwayne Cameron as James Peabody^[1] (series 3–4)

Recurring

• Kate Elliott as Melanie Wyeth (series 1–3)
• Carl Bland as Peter Wyeth (series 1–2)
• Louise Wallace as Adriana Saunders^[3]
• Ben Baker as Samson Silesi (series 1)
• Sara Wiseman as Louise Jarvis (series 1)
• Cal Wilson as Yalena^[3]
• Andrew Binns as Det. Sr. Sgt. Jack Clifford (series 2)
• Ingrid Park as Maddy McGuire^[1] (series 2–4)
• Manu Bennett as Matt Urlich^[1] (series 3–4)
• Tandi Wright as Ange Watson (series 4)

Main characters

David Silesi is an unconventional lawyer. Ambitious and hot-headed, he's a man with a passion for winning and he's not afraid to bend the rules to get a result. He is the central character in Street Legal and was specifically created with actor Jay Laga'aia in mind.

Joni Collins is a colleague of David Silesi's at Wyeth and Associates. Her cool restrained English Rose quality is the very opposite of David's braggadocio. This worked well when they were lovers, but now that they have to run the business between them, it creates a lot of conflict.

Detective Senior Sergeant Kees Van Dam sees himself as an honest cop relentlessly pursuing the course of justice. Most of the time he is, but he can also be uncompromising and single-minded to the exclusion of all else, including his love for Joni Collins.

A 1944 Ford Jailbar was also seen in nearly every episode of the first three series. It is David Silesi's main companion. Early in the first series, David's Ute was stolen, so his brother seeing his reaction to the truck decided to buy it for him. In the middle of the third series, the truck broke down, and was never seen again, replaced by a brand new Holden Ute.

Academy of Film and Television Arts