"Us" was co-written by supervising producer Nichole Beattie and co-executive producer Seth Hoffman; for each, it is their third writing credit for the season and their second shared writing credit, after co-writing the earlier season episode "Claimed".
The majority of the main cast appears in this episode with the exceptions of Melissa McBride (Carol Peletier), Emily Kinney (Beth Greene), and Chad L. Coleman (Tyreese).