Takehiro Urao is a Japanese voice actor and stage actor born on February 3, 1990, in Kanagawa Prefecture, Japan. He is a graduate of the Faculty of Arts at Meiji University. His career in voice acting began in the mid-2010s, with his earliest television roles appearing in 2015. He has been affiliated with the agency Ogipro THE NEXT.

Urao is recognized for several prominent voice roles in both anime and video games. In the anime series Yashahime: Princess Half-Demon and its second act, he voices Hisui, the son of original Inuyasha characters Miroku and Sango, who works as a demon slayer. His other notable anime appearances include the role of the young version of佐河 in the series 刻刻, and roles in 智龙迷城X and BORUTO -火影新世代-.

A significant and recurring role in his career is that of兜大吾 in the 偶像大师 SideM franchise. He has voiced this character across multiple projects, including the original game, 偶像大师 SideM LIVE ON ST@GE!, 偶像大师 POPLINKS, and 偶像大师 SideM GROWING STARS. This role represents a major collaboration within the franchise, spanning several years and various media.

Beyond anime and the 偶像大师 franchise, Urao has an extensive body of work in video games. He has provided voices for characters in long-running mobile games, including roles as巴沙洛缪·罗伯茨 and焰摩天 in 怪物弹珠. His other game credits include 幻兽契约Cryptract, 东京谜影者, and 万千回忆. He has also worked in web animation, such as his roles in the series ULTRAMAN, and in foreign film dubbing. His known skills and interests include long-distance cycling and playing the piano.