Almost all of the new characters (the Wazari people, Jane's friend Hazel, Nicholas Rokoff, Queen La, the Leopardmen, etc.) were taken from the dozens of original Tarzan books and stories.
In the original Tarzan novels Queen La's race is originally from Atlantis. Therefore her counterpart in this show was designed to look like the Atlanteans in Disney's Atlantis: The Lost Empire (2001).
None of the Original Voice Actors from Tarzan (1999) reprised their roles in the TV Spin-off.