Robert Cleveland Johnson (May 4, 1920 – December 31, 1993), known professionally as Bob Johnson, was an American actor and voice actor who played supporting roles on television and in films from 1956 to 1990.

However, Johnson is probably best known as the "voice behind the scenes", who gave Special Agents Dan Briggs and Jim Phelps their recorded mission briefings on both incarnations of the television series Mission: Impossible (1966-1973, 1988-1990). Johnson also voiced Clegg Hoyt's role as Pitcairn, the transporter chief of the U.S.S. Enterprise, in the first Star Trek: The Original Series pilot "The Cage" starring Jeffrey Hunter as Captain Christopher Pike. Footage from "The Cage" was subsequently included in "The Menagerie, Part I" and "The Menagerie, Part II".

He voiced characters in 13 episodes of the original series from 1963 to 1964:

• "Corpus Earthling" - Alien Rocks (uncredited)
• "It Crawled Out of the Woodwork" - NORCO Intercom Voice (uncredited)
• "The Zanti Misfits" - Radio newscaster / Zanti Regent / Zanti commander (uncredited)
• "The Mice" - Chromoite (uncredited)
• "Don't Open Till Doomsday" - Creature (uncredited)
• "ZZZZZ" - Mr Lund (uncredited)
• "The Invisibles" - The Invisibles (uncredited)
• "Specimen: Unknown" - Project Adonis Intercom Voice (uncredited)
• "The Guests" - Alien (uncredited)
• "Fun and Games" - The Senator
• "The Chameleon" - Loudspeaker voice / Helicopter Pilot (uncredited)
• "Behold, Eck!" - Eck (uncredited)
• "Counterweight" - Antheon / Surface Control voice (uncredited)

"Fun and Games" was the only episode for which he was credited.