Blue Heelers is an Australian television police drama series that aired on the Seven Network from 18 January 1994 until 4 June 2006. The series depicted the lives and relationships of the residents of Mount Thomas, a fictional small town in Victoria, and its police force. The following is a list of all main, recurring/semi-regular cast members that appeared in the series.

Adam Cooper, played by Damian Walshe-Howling, made his first appearance on 6 September 1994.

Tom Croydon, played by John Wood, made his first appearance on 18 January 1994.

Maggie Doyle, played by Lisa McCune, made her first appearance on 18 January 1994.

Amy Fox, played by Rachel Gordon, made her first appearance on 17 July 2004. Amy entered the show in season 11 after the bombing of the Mount Thomas Police Station. She was billed as being "Early 30s, sweetly spoken, feminine but with a take-no-prisoners policing style." She is also "smart", but "desperate for love and approval after childhood tragedies." Amy is partnered with Detective P. J. Hasham (Martin Sacks). At first, there is tension between the two but eventually they form a close friendship. Her parents died in a car accident when she was eight years old, and afterward she lived with her aunt and uncle. She happily lived with them for four years until her uncle started molesting and raping her when she was 12 years old. The abuse continued until her aunt kicked her out when she was 16. She confronted her uncle in season 12 of the show and told him that the reason her aunt kicked her out was because she became pregnant with his baby. Her aunt made her abort the baby before driving her to the train station and telling her never to come home. Her uncle then confesses to molesting her 15 years ago and is arrested. Amy continues to work with P.J until he joins a Homicide Squad in Melbourne. She is later partnered with Evan Jones (Ditch Davey) when he becomes a detective.

Tess Gallagher, played by Caroline Craig, made her first appearance on 24 May 2000.

Matthew "Matt" Graham, played by Matthew Holmes, made his first appearance on 21 September 2005. Matt served in the Army, notably as part of the peace-keeping force in East Timor, and his time there has left some very deep scars. Before transferring to Mount Thomas, Matt has had some trouble at his previous postings, where it has been noted that he has a very black or white view of the world and of enforcing the law, plus some problems controlling his temper, something his colleagues struggle to deal with, and they initially find his attitude overly harsh, making it difficult for him to really make friends. Detective Amy Fox (Rachel Gordon) takes an immediate dislike to him and makes it her mission to go after him when Matt is accused of murdering a suspect. Even after he is exonerated of the crime she continues to distrust him and it is a long time before she can start to see that behind the hard exterior Matt might actually be a nice guy. When he is almost shot in a drugs raid gone wrong, a moment on vulnerability allows Amy to realise that the two of them may actually have a lot in common. Matt remains a loyal member of the team at Mount Thomas to the very end.

P. J. Hasham, played by Martin Sacks, made his first appearance on 18 January 1994.