Duggan starred as Murdoch Lancer, the patriarch of the Lancer family. Maunder played Scott Lancer, the educated older son and a veteran of the Union Army. Stacy played gunslinger Johnny Madrid Lancer. Paul Brinegar appeared as Jelly Hoskins and Elizabeth Baur played Murdoch Lancer's ward Teresa O'Brien.
Lancer lasted for 51 hour-long episodes and was shot in color. It was rerun on CBS during the summer of 1971.
The pilot episode, "The High Riders", was mostly filmed on location in and around the hacienda now located within the Santa Lucia Preserve. All interior shots of the hacienda in subsequent episodes were filmed on a sound stage in Hollywood, recreated from photographs of the original.