There’s only Burt Ward (Robin) and a few major villains left from the Batman TV show: Julie Newmar (Catwoman), John Astin (The Riddler - he replaced Frank Gorshin for two episodes), Jill St. John (”Molly” - the Riddler’s accomplice in the 1st two episodes), Barbara Rush (Nora Clavicle), and Glynis Johns (Lady Penelope Peasoup.)
One more: Joan Collins as "The Siren."