• Hailee Steinfeld as Charlie Watson, a teenage girl who finds and befriends Bumblebee
• John Cena as Jack Burns, an agent of Sector 7
• Jorge Lendeborg Jr as Memo, Charlie's neighbor
• Jason Drucker Otis Watson, Charlie's younger brother
• Pamela Adlon as Sally Watson, Charlie and Otis' mother
• Stephen Schneider as Ron, Charlie's stepfather
• Ricardo Hoyos as Tripp Summers, Charlie’s classmate
• John Ortiz as Dr. Powell, an agent of Sector 7
• Glynn Turman as General Whalen, Burns' superior at Sector 7
• Len Cariou as Hank, Charlie's uncle and owner of a junkyard where she sources car parts
• Gracie Dzienny as Tina, Charlie’s mean-spirited classmate
• Fred Dryer as Sheriff Lock, a sheriff who gets into a high-speed chase with Charlie and Bumblebee
• Lenny Jacobson as Ray, a trailer park resident killed by the Decepticons
• Megyn Price as Amber, Ray's girlfriend
• Nick Pilla as Seymour Simmons, an agent of Sector 7. John Turturro portrayed an older version of the character in previous live-action Transformers films
• Edwin Hodge as Danny, an agent of Sector 7
• Tim Martin Gleason as Charlie's father, who died of a heart attack

• Dylan O'Brien as the voice of B-127 / Bumblebee a young Autobot scout who transforms into a yellow Willys MB jeep before switching for a rusty yellow 1967 Volkswagen Beetle and eventually a yellow and black 1977 Chevrolet Camaro
• Peter Cullen as the voice of Optimus Prime the leader of the Autobot resistance who transforms into a scarlet 1977 Freightliner semi truck
• Grey Griffin as the voice of Arcee a female Autobot in charge of keeping contact with the capital
• Steve Blum as the voice of Wheeljack an Autobot scientist
• Andrew Morgado as the voice of Cliffjumper one of Bumblebee's fellow scouts who is killed by Shatter and Dropkick on the Moons of Saturn
• Kirk Baily as the voice of Brawn an Autobot commando
• Dennis Singletary as the voice of Ratchet an Autobot medic

• Angela Bassett as the voice of Shatter a Decepticon triple-changer who transforms into a red Plymouth Satellite and a Harrier Jump Jet
• Justin Theroux as the voice of Dropkick a Decepticon triple-changer who transforms into a blue AMC Javelin and a Bell AH-1 SuperCobra
• David Sobolov as the voice of Blitzwing a Decepticon who transforms into a red/white McDonnell Douglas F-4 Phantom II and is responsible for damaging Bumblebee's voice box
• Jon Bailey as the voices of Shockwave, a Decepticon scientist
• Jon Bailey also voices Soundwave a Decepticon Communications officer who houses Ravage, a minion that transforms into a cassette tape
• Kirk Baily as the voice of the Seekers, various Decepticon soldiers under Soundwave, Shockwave, and Starscream's command

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