Tony Robinson came up with the idea of the show, after watching his daughter playing with other kids and it occurred to him that if she had been in Robin Hood's gang, she would had been the one who was running it, not Robin Hood.
When Robin Hood wonders whether his life would ever be made into a movie, Rabies asks if he could be in it. The actor who played Rabies, Howard Lew Lewis, did in fact appear in Robin Hood: Prince of Thieves (1991) as Hal.
Mike Edmonds (Little Ron) was also in "Blackadder", which starred Tony Robinson (The Sheriff of Nottinham). In "Born to Be King" (#1.2), Edmonds had an uncredited small role of a man in a cage and Edmonds had played a similar part in the pilot, as a dog kept in a cage by Edmund.
Kate Longergan and Wayne Morris once appeared on the Saturday Morning show "Parallel 9" interviewed about the 3rd series of the show, where they were dressed up in costume as their characters from the show, Marian and Robin, as Series 3 was in production at that time. Danny John-Jules (Barrington) once appeared on "Parallel 9" dressed up in costume as his character, The Cat from "Red Dwarf", when he was interviewed about it's 6th season, which John-Jules also did between seasons of "Maid Marian and her Merry Men".
Maid Marian and Her Merry Men: Tunnel Vision (1994) parodies The Crystal Maze (1990) which Robin dressed up as Richard O'Brien, forces The Sheriff of Nottingham, Gary and Graham to play a series of Crystal Maze style games in The Maze of Mystery. Mike Edmonds had starred opposite Crystal Maze host Richard O' Brien in Flash Gordon (1980).
4 years earlier Forbe Collins had worked with Jason Connery in "Doctor Who" Vengeance on Varos: Part One (#22.3) and "Doctor Who" Vengeance on Varos: Part Two (#22.4). Jason Connery had played Robert of Hutingdon in the ITV series "Robin of Sherwood".
Mike Edmonds as Logray, one of the native Ewok inhabitants of the Forest moon of Endor that aids the Rebel Alliance in defeating the Galactic Empire in the 1983 film "Star Wars: Episode VI - Return of the Jedi", foreshadowed Edmonds starring in the series as Little Ron.