The Actor Who Played the Ewok Wicket in Return of the Jedi also Played Yoda in The Phantom Menace
In The Phantom Menace, in scenes where Yoda was walking around, Warwick Davis played Yoda, obviously in a Yoda suit. Davis also played the Ewok, Wicket, in Return of the Jedi and of course is most famous for playing Willow (phenomenal movie) and of course Professor Flitwick and Griphook in the Harry Potter series, among many other roles.
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He also appears in Episode 1 at the pod races, he is a spectator in a box seat.
In every scene he appears, Yoda is either a puppet, moved and voiced by Frank Oz, or, especially in Episodes 2 & 3, is entirely CGI
@Isaac: Nope. In the Phantom Menace there’s a part where Yoda walks on the ground (towards the end when when Anakin and Obi-Wan Kenobi and the Jedi Council exit a space cruiser and are met by Senator Palpatine and Queen Padme). Rather than do Yoda in CGI, they just had Warwick Davis play him in a suit.