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Recurring

Arye Gross as Dr. Sidney Perlmutter, a medical examiner who assists on some of Beckett's cases and does little to hide his dislike of Castle

Scott Paulin as Jim Beckett, Kate Beckett's father

Maya Stojan as Tory Ellis, an NYPD Tech officer who assists on Beckett's cases

Juliana Dever as Jenny Ryan (née O'Malley), Ryan's wife (and Seamus Dever's real wife)

Darby Stanchfield as Meredith Harper, an actress who was Castle's first wife and Alexis's mother. She is regularly portrayed as self-centered and dramatic.

Monet Mazur as Gina Cowell, Castle's publisher and second wife

Bailey Chase as Will Sorenson, an FBI agent and Beckett's ex-boyfriend

Michael Trucco as Detective Tom Demming, a robbery detective with whom Beckett briefly becomes involved

Victor Webster as Dr. Josh Davidson, Beckett's motorcycle-riding, cardiac-surgeon ex-boyfriend

Michael Mosley as Jerry Tyson/the Triple Killer (3XK), a methodical and meticulous serial killer who returns to New York every few years to terrorize the city. He is frequently believed to be dead, only to resurface.

Jack Coleman as William Bracken, a popular, charismatic, and murderously corrupt senator representing the State of New York with ambitions of one day becoming president

Geoff Pierson as Mr. Smith, a friend of Captain Montgomery's who holds evidence that keeps the murderer of Beckett's mother away from her

Michael Dorn as Dr. Carver Burke, a psychiatrist who helps Beckett overcome the trauma of her near-fatal shooting and also deal with her various hidden emotions

Jonathan Adams as Vulcan Simmons, a ruthless Manhattan drug lord

Dan Castellaneta as Judge Markway, a judge who frequently issues warrants for Beckett, and one of Castle's poker buddies

Phil LaMarr as Dr. Holloway, a psychiatrist who evaluates the mental stability of suspects

Ken Baumann as Ashley, Alexis' steady boyfriend

Myko Olivier as Pi, Alexis's boyfriend (at the beginning of season six) with whom she shares an apartment for a while

Lisa Edelstein as Agent Rachel McCord, Beckett's partner during her brief time working for the Attorney-General's Office

Annie Wersching as Dr. Kelly Nieman, a respected plastic surgeon with a secret life as Jerry Tyson's partner in crime

Matt Letscher as 'Henry Jenkins' (real name unknown), an impostor purportedly with the CIA who is involved with Castle's disappearance

Sunkrish Bala as Vikram Singh (season 8), a high-strung tech analyst with the Attorney General's Office in Washington, D.C., where Beckett briefly works. He helps Beckett track down and destroy the mysterious organization behind Beckett's mother's murder and numerous other crimes. He later works as a computer analyst for the NYPD.

Kristoffer Polaha as Caleb Brown, an idealistic public defender found to have links to the LokSat conspiracy

James Brolin as Jackson Hunt, an operative of the Special Activities Center of the CIA, and Castle's father (from a one-night stand)

Real-life writers Stephen J. Cannell, James Patterson, Dennis Lehane, and Michael Connelly appear as themselves during periodic games of poker at Castle's apartment. Typically, they discuss Castle and Beckett's current case and tease Castle about his involvement with Beckett. Following Cannell's death on September 30, 2010, an empty chair was kept at the poker table for a year in his honor.

Tie-in works

In the series, Castle writes a novel titled Heat Wave. As a tie-in, ABC and sister publisher Hyperion Books released that novel as a real book with "Richard Castle" as the author. It is entirely in character, from the dedication to the acknowledgments, although the latter mentions the principal cast and the show's creators by first name. ABC released the first half of the novel in weekly increments on their website. The complete novel was published in September 2009 as a hardcover, debuting at No. 26 on The New York Times Best Seller list. In its fourth week on the list, Heat Wave broke into the top 10 at No. 6. Heat Wave was released in paperback on July 27, 2010, and debuted at No. 34 on The New York Times Best Seller Paperback Mass-Market list. It once again appeared on The New York Times Best Seller list on May 27, 2012, at No. 19.

Naked Heat, the sequel to Heat Wave, was released on September 28, 2010. Naked Heat debuted at No. 7 on The New York Times Best Seller list. As they did with Heat Wave, ABC released a series of the early chapters online as a promotional tool. A third novel, titled Heat Rises, was released on September 20, 2011. It debuted at No. 1 on The New York Times Best Seller list on October 9, 2011 and at No. 5 on the USA TODAY Best-Selling Books list.

The season three finale introduced a graphic novel based on Castle's previous novel character, Derrick Storm. Castle: Richard Castle's Deadly Storm was published by Marvel Comics on September 28, 2011. It debuted at No. 3 on The New York Times Best Seller list on October 16, 2011. This has been followed by three more graphic novels, published a year apart.

A fourth novel, titled Frozen Heat, was released on September 11, 2012, and debuted on The New York Times Best Seller list at No. 7 on September 23, 2012. The fifth Nikki Heat novel Deadly Heat was released September 17, 2013, and debuted at No. 8 on The New York Times Best Seller list. Raging Heat, the sixth novel, was released on September 16, 2014. It landed on No. 6 on The New York Times Hardcover Fiction Best Seller list and on No. 17 on The New York Times Combined Print and E-Book Fiction bestseller list on October 5, 2014. The seventh novel, Driving Heat, was released on September 15, 2015. It debuted on The New York Times Hardcover Fiction Best Seller list at No. 13 on October 4, 2015.

On May 20, 2016, it was announced that two more novels would be published in the Nikki Heat series, even though the show itself had been canceled. The eighth book in the series, High Heat, was published on October 25, 2016. The ninth, Heat Storm, was released in May 2017.

In July 2018, a 10th Nikki Heat book was announced. Crashing Heat was published by Kingswell, a division of Disney Books, on March 12, 2019, almost three years after the TV series ended.

In February 2012, Hyperion announced three e-book novellas as part of Richard Castle's famous Derrick Storm series. The first novella of the series, A Brewing Storm, was released in digital media on May 1, 2012. It debuted at No. 13 on The New York Times E-Book Fiction Best Seller list, as well as No. 18 on The New York Times Combine Prints & E-book Fiction list on May 20, 2012. On July 3, 2012, the second novella of the new Derrick Storm books, A Raging Storm, was released in e-book format. It landed on The New York Times Best Seller e-books list at #19 and at No. 31 for the combined Prints & E-book list, both on July 22, 2012. The final Derrick Storm novella, A Bloody Storm, was released on August 7, 2012. It debuted on The New York Times Best Seller e-books list at #20 and at #34 on the combined Prints & E-book list on August 26, 2012.

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