"Galavant" stars Joshua Sasse as Galavant, Timothy Omundson as King Richard, Vinnie Jones as Gareth, Mallory Jansen as Madalena, Karen David as Isabella and Luke Youngblood as Sid.

Guest stars include Tony Award winner Faith Prince (Guys and Dolls, Bells Are Ringing), John Stamos (Bye Bye Birdie, "Glee"), Rutger Hauer ("True Blood," "Merlin"), Ricky Gervais ("The Office," "The Ricky Gervais Show"), Hugh Bonneville ("Downton Abbey," "The Monuments Men") and Weird Al Yankovic ("How I Met Your Mother," "Atop the Fourth Wall").

The series premieres with back-to-back episodes in the 8 PM slot. 

Read reviews of "Galavant" here.

"Galavant" is written by Dan Fogelman, who also serves as executive producer. Executive producers also include Alan Menken, Glenn Slater and Chris Koch. "Galavant" is directed by Chris Koch. Abbey C Studios Ltd. produces "Galavant" for ABC Studios. Click here to read the Playbill.com feature in which Menken and Dan Fogelman discuss its creation.

Three songs from the series are currently available on iTunes.

Here's how it's billed by ABC: "Screenwriter/executive producer Dan Fogelman ('Crazy, Stupid, Love,' 'Tangled,' 'Cars') teams up with Broadway and Hollywood award-winning musical team — composer Alan Menken ('The Little Mermaid,' 'Aladdin,' 'Beauty and the Beast') and lyricist Glenn Slater ('Tangled')—for a musical comedy fairytale of epic proportions. Once upon a time, the dashing hero, Galavant (Joshua Sasse), lost the love of his life, Madalena (Mallory Jansen), to the evil King Richard (Timothy Omundson). Now, our fallen hero is ready to take revenge and restore his 'happily ever after.' But it won't be without a few twists and turns along the way."

Preview clips and interviews from "Galavant" below: