<Li> Anthony Mackie as Sam Wilson / Falcon: A former pararescueman trained by the military in aerial combat using a specially designed wing pack and a friend of Steve Rogers . Discussing the relationship between Wilson and Rogers, Mackie said that the two characters have a mutual "soldier respect", which is explored in the film and in Captain America: Civil War . Feige said that it was decided to reshoot the final scene of the film to incorporate the new Falcon suit designed for Ant - Man, which was released after Age of Ultron, as Falcon was originally shot in his original suit from The Winter Soldier . Mackie stated he did not realize Wilson had become an Avenger until he watched the film at the premiere, as he was only given the script for the scenes he worked on . </Li> <Li> Hayley Atwell as Peggy Carter: A retired officer with the Strategic Scientific Reserve and a co-founder of S.H.I.E.L.D., who is a former love interest of Steve Rogers . </Li> <Li> Idris Elba as Heimdall: The all - seeing, all - hearing Asgardian sentry of the Bifröst Bridge, based on the mythological deity of the same name . </Li> <Li> Stellan Skarsgård as Erik Selvig: An astrophysicist and a friend of Thor . Skarsgård said he was originally not supposed to appear in the film, but received a call because "they'd written a couple of scenes, and I went and did them," not knowing if the scenes would appear in the final cut of the film . </Li>

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