Krishna Bharadwaj was chosen to play the titular role of Tenali Rama and went bald for it. Speaking on how he got the role, he said, “I have been waiting for something good to come my way".When I received a call for Tenali Rama, I was shocked to be informed that I would have to go bald. But then I decided to give it a try, and it all fell into places. I feel there has been a divine force blessing me for I have managed to sink my teeth into the character so well. I did not do any research nor read about it but I can assure I am doing a good job, even though I do not consider myself so capable. As for the baldness, the first day, I was really upset but now I see Tenali in the mirror and not Krishna, and that takes away the blues.”

It was reported in June 2017 that Manav Gohil had been cast to play the pivotal role of Emperor Krishnadevraya. Gohil, who worked with SAB TV on "Yam Hain Hum", where he played the titular role, said, "This time it's Krishnadevaraya, a very powerful king that I am portraying. It's a comedy show and I am looking forward to working with a new set of people. The show is "Tenali Rama" and I am so ready to get rolling with this one."

Veteran actor Pankaj Berry was cast to play the series' antagonist and Tenali Rama's foe, Tathacharya, who is the royal priest in the court room of Emperor Krishnadevraya. Berry said, “I am very excited to play Tathacharya. It is a very different kind of challenging role, there are different layers to the character even though it's a negative character." It was reported in July 2017 that Sonia Sharma and Priyanka Singh had been cast to play the roles of Krishnadevraya's wives, Chinna Devi and Tirumalamba, respectively.

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