If you have ever watched the legal drama series “Law and Order,” you know that the “Law and Order” cast changed several times during the course of the series. If you are interested in learning more about these talented men and women, read on to find out about some of the more noteworthy members of the cast of the show.

Sam Waterston As one of the most stately actors in Hollywood, Sam Waterston made an excellent addition to the cast of “Law and Order” as Assistant District Attorney Jack McCoy, a man who has principles but is not afraid to pursue the justice he feels criminals deserve. In addition to his work on this series, Waterston also starred in the series “I’ll Fly Away” and provided the voice of Abraham Lincoln in the acclaimed documentary “The Civil War” by Ken Burns.

Jerry Orbach Jerry Orbach was another cast member of “Law and Order” that had already established himself as a formidable stage presence. Younger viewers probably knew him as the voice of Lumiere the candelabra in the Disney film “Beauty and the Beast,” while ‘80s films fans knew him from his role in “Dirty Dancing.” Although he died in 2004, his legacy lives on.

S. Epatha Merkerson Playing Anita Van Buren, the no-nonsense police chief in the cast, this actress proved that she has the chops to do well on a series of this caliber. Although this was her best-known role, she has also appeared in a number of other popular series including “The Closer,” “Frasier” and “Here and Now.”

Jesse L. Martin This cast member, who played one of the lead detectives in the “Law and Order” series, has proven himself to be a powerful actor on both stage and screen. One of his more notable roles was as Tom Collins in the hit musical “Rent,” a role he would later reprise in the film adaptation of the play.

Benjamin Bratt No list of “Law and Order” cast members would be complete without mentioning Benjamin Bratt. Bratt, who grew in San Francisco, has starred in a number of films and television series, including “The Cleaner” (from 2008 to 2009), “Miss Congeniality” and “Homicide:  Life on the Street.”