Tim Allen reprises his Toy Story role as the voice of Buzz Lightyear, as do Wallace Shawn, R. Lee Ermey, Jeff Pidgeon, and Joe Ranft as Rex, Sarge, Squeeze Toy Aliens, and Wheezy respectively. Woody is voiced by Jim Hanks, the younger brother of original Woody voice actor Tom Hanks, and Hamm is voiced by original Zurg voice actor Andrew Stanton from Toy Story 2 instead of John Ratzenberger.
When the movie was later edited into three episodes of the television show, the opening "Andy's Room" sequence was removed and Tim Allen's voice was replaced by the regular series' voice actor for Buzz, Patrick Warburton. Originally, Warburton recorded all of Buzz's lines for the movie, but they were redubbed by Allen when the movie was released. The edited TV version uses Warburton's dialogue.