Yes, Planet Earth.
Actually there are three Star Trek connections I can name at this moment.
1: It was a Gene Roddenberry flick.
2: Diana Muldaur played a major role in that movie and appeared in two episodes of the original Star Trek series. In addition she played the Enterprise ship's chief medical officer in Star Trek: The Next Generation in season 2.
3: Ted Cassidy (Lurch) also appeared as the android Ruk in the original series Star Trek episode "What are Little Girls made of?".
Genesis II was also a Roddenberry production but shared no cast members with Star Trek or Planet Earth to the best of my knowledge.
Planet Earth starred John Saxon who is among my favorite actors. He played the evil leader Sador in everybody's favorite classic 80s sci-fi movie that also starred John-Boy Walton (Richard Thomas) and everybody's favorite spaceship with huge tittays, Nell, in Battle Beyond the Stars. "We always carry a spare."..Nestor.