List of Doctor Who supporting characters
Over the course of its many years on television, the long-running British science fiction television series Doctor Who has not only seen changes in the actors to play the Doctor, but in the supporting cast as well.
- Main article: Companion (Doctor Who)
The Doctor is usually accompanied in his travels by one to three companions (sometimes called assistants). These characters provide a surrogate with whom the audience can identify, and further the story by asking questions and getting into trouble, (similar to Dr. Watson in the Sherlock Holmes mysteries.) The Doctor regularly gains new companions and loses old ones; sometimes they return home, or find new causes on worlds they have visited. A few of the companions (Katarina, Sara Kingdom, Adric, the android Kamelion, Astrid Peth, and Adelaide Brooke) have died during the course of the series.
- Brigadier Sir Alistair Gordon Lethbridge-Stewart (Nicholas Courtney)
- Captain Mike Yates (Richard Franklin)
- Captain Erisa Magambo (Noma Dumezweni)
- Sergeant Benton (John Levene)
- Corporal Bell (Fernanda Marlowe)
- Private Carl Harris (Clive Standen)
- Henry Avery (Hugh Bonneville)
- Toby Avery (Oscar Lloyd)
- Sophie Benson (Daisy Haggard)
- Lady Cassandra O'Brien (Zoë Wanamaker)
- Winston Churchill (Ian McNeice)
- "Danny Boy" (Mark Gatiss)
- Canton Everett Delaware III (W. Morgan Sheppard, Mark Sheppard)
- Dexter (Elize du Toit)
- Charles Dickens (Simon Callow)
- Queen Elizabeth I (Vivienne Bennett, Angela Pleasence)
- Queen Elizabeth II (Jeanette Charles, voice: Jessica Martin, body: Angharad Baxter)
- Queen Elizabeth X, or "Liz 10" (Sophie Okonedo)
- Jenny Flint (Catrin Stewart)
- Vincent van Gogh (Tony Curran)
- Clive Jones (Trevor Laird)
- Francine Jones (Adjoa Andoh)
- Harriet Jones (Penelope Wilton)
- Leo Jones (Reggie Yates)
- Tish Jones (Gugu Mbatha-Raw)
- Tanya Lernov (Clare Jenkins)
- Oliver Morgenstern (Ben Righton)
- Nerys (Krystal Archer)
- Sylvia Noble (Jacqueline King)
- Lucy Saxon (Alexandra Moen)
- William Shakespeare (Hugh Walters, Dean Lennox Kelly)
- Jake Simmonds (Andrew Hayden-Smith)
- Luke Smith (Tommy Knight)
- Professor Edward Travers (Jack Watling)
- Trefusis (Sylvia Seymour, Tracie Simpson)
- Jackie Tyler (Camille Coduri)
- Pete Tyler (Shaun Dingwall)
- Vernet (Chrissie Cotterill)
- Trinity Wells (Lachele Carl)
- Brian Williams (Mark Williams) 
- Borusa (Angus MacKay; John Arnatt; Leonard Sachs; Philip Latham)
- The Castellan (Paul Jerricho)
- The Inquisitor (Lynda Bellingham)
- Jenny (Georgia Moffett)
- The Master (Roger Delgado, Peter Pratt, Geoffrey Beevers, Anthony Ainley, Gordon Tipple, Eric Roberts, Derek Jacobi, John Simm)
- The Meddling Monk (Peter Butterworth)
- Omega (Stephen Thorne; Ian Collier)
- Rassilon (Richard Mathews, Timothy Dalton, Don Warrington)
- The Rani (Kate O'Mara)
- Third Time Lord/Chancellor (Clyde Pollitt)
- The Valeyard (Michael Jayston)
- Black Guardian (Valentine Dyall)
- Blon Fel-Fotch Pasameer-Day Slitheen (Annette Badland)
- The Face of Boe (Struan Rodger)
- Edwin Bracewell (Bill Paterson)
- Cyber Controller (Michael Kilgarriff, Peter Hawkins [voice only])
- Dalek Sec, Dalek Thay, Dalek Caan and Dalek Jast (all voiced by Nicholas Briggs)
- Davros (Michael Wisher, David Gooderson, Terry Molloy, Julian Bleach)
- Delegate Alpha Centauri (body: Stuart Fell; voice: Ysanne Churchman)
- Great Intelligence (portrayed by Jack Woolgar and Richard E Grant; voiced by Wolfe Morris, Ian McKellen and Cameron Strefford)
- Sabalom Glitz (Tony Selby)
- Novice Hame (Anna Hope)
- Icthar (body: Pat Gorman; voice: Peter Halliday; Norman Comer)
- Lytton (Maurice Colbourne)
- Madame Kovarian (Frances Barber)
- Dorium Maldovar (Simon Fisher-Becker)
- Malohkeh (Richard Hope)
- Ood Sigma (body: Paul Kasey; voice: Silas Carson)
- Strax (Dan Starkey)
- Madame Vastra (Neve McIntosh)
- White Guardian (Cyril Luckham; Gerald Cross [voice only])
- Brigadier Lethbridge-Stewart is thought to be a companion by some fans, though by others he is not. The argument over whether he is an acceptable companion continues to this day, although he is on the list of companions on the BBC's Doctor Who website.
- Some fans also consider UNIT era regulars Sergeant Benton and Captain Mike Yates to be "companions" although they do not fit the accepted definition. Benton and Yates appeared as regulars in Season 8, again making other appearances before (in Benton's case) and after.
- Lethbridge-Stewart appeared as a regular in Seasons 7 and 8 (as well as making guest appearances before and since). Nicholas Courtney, along with his role as Bret Vyon in The Daleks' Master Plan, his appearance in the charity special Dimensions in Time and his participation in the Eighth Doctor audio play Minuet in Hell, has the distinction of having acted with every screen Doctor before the Ninth and also the Tenth (although in adventures before actor David Tennant was cast as the Doctor).
- The Inquisitor and The Valeyard appeared in every episode of Season 23, a season that comprised just one story, (albeit split into four segments), The Trial of a Time Lord.
- Mickey Smith was a significant recurring character in the 2005 series, prior to briefly becoming a companion in the 2006 series. Similarly, Jackie Tyler appeared in many episodes of the 2005 and 2006 series; in the episodes "Army of Ghosts" and "Doomsday", she briefly travels in the TARDIS and acts like a companion, although she is not generally considered one.
- The Master appeared as a regular in Season 8 and has many guest appearances in subsequent seasons and the television movie.
Recurring alien species, monsters, or robots
- Ice Warriors
- Autons and the Nestene Consciousness
- The Great Intelligence
- Weeping Angels
- Raxacoricofallapatorians (the Slitheen family's species)
- The Silence
- Sea Devils
- Robotic Santa Clauses and Christmas Trees
Characters from Doctor Who spin-off comics, novels, audio dramas and webcasts
The Doctor Who comics, novels and audio dramas have created companions, villains and supporting characters of their own. Some of these originated in one medium and later appeared in another. The lists below indicate where a character has appeared. The canonicity of these spin-offs is unclear.
(See also List of companions in Doctor Who spin-offs)
with the First Doctor
with the Second Doctor
- John and Gillian (TV Comic comic strip)
with the Third Doctor
with the Fourth Doctor
- Sharon (Doctor Who Magazine comic strip)
- Mike Yates (Hornets' Nest; audio drama arc announced for release Autumn 2009)
with the Fifth Doctor
- Sir Justin (Doctor Who Magazine comic strip)
- Angus "Gus" Goodman (Doctor Who Magazine comic strip)
- Erimemushinteperem "Erimem" (Caroline Morris) (Big Finish Productions; Telos novella)
- Thomas Brewster (John Pickard) (Big Finish Productions)
- Amy (Ciara Janson) (Big Finish Productions)
with the Sixth Doctor
- Frobisher (Robert Jezek) (Doctor Who Magazine comic strip; Big Finish Productions; Past Doctor Adventures)
- Grant Markham (Missing Adventures)
- Angela Jennings (Missing Adventures)
- Dr. Evelyn Smythe (Maggie Stables) (Big Finish Productions; Past Doctor Adventures)
- Charlotte Elspeth "Charley" Pollard (India Fisher) (Big Finish Productions)
with the Seventh Doctor
- Frobisher (Doctor Who Magazine comic strip)
- Thomas Hector "Hex" Schofield (Philip Olivier) (Big Finish Productions)
- Bernice "Benny" Summerfield (Lisa Bowerman) (New Adventures; Big Finish Productions)
- Chris Cwej (New Adventures)
- Roz Forrester (New Adventures)
- Antimony (Kevin Eldon) (Death Comes to Time)
- Catherine Broome (Telos novella)
with the Eighth Doctor
- Bernice "Benny" Summerfield (New Adventures; Big Finish Productions)
- Izzy Sinclair (Jemima Rooper) (Doctor Who Magazine comic strip; Big Finish Productions)
- Fey Truscott-Sade (Doctor Who Magazine comic strip)
- Kroton (Doctor Who Magazine comic strip)
- Destrii (Doctor Who Magazine comic strip)
- Stacy Townsend (Radio Times comic strip)
- Ssard (Radio Times comic strip)
- Samantha "Sam" Jones (Eighth Doctor Adventures)
- Fitz Kreiner (Matt Di Angelo) (Eighth Doctor Adventures; Big Finish Productions)
- Compassion (Jackie Skarvellis) (Eighth Doctor Adventures, Faction Paradox)
- Miranda (Eighth Doctor Adventures)
- Anji Kapoor (Eighth Doctor Adventures)
- Beatrix MacMillan (Eighth Doctor Adventures)
- Charlotte Elspeth "Charley" Pollard (Big Finish Productions)
- C'rizz (Conrad Westmaas) (Big Finish Productions)
- Lucie Miller (Sheridan Smith) (Big Finish Productions)
with the Tenth Doctor
- Heather McCrimmon (Doctor Who Adventures comic strip)
- Majenta Pryce (Doctor Who Magazine comic strip)
with the Eleventh Doctor
- Kevin (IDW Comics)
- Decky Flamboon ("Doctor Who Adventures")
- Pippa ("Doctor Who Adventures")
Other recurring or important characters
- Abslom Daak (Doctor Who Magazine comic strip; New Adventures)
- Beep the Meep (Toby Longworth) (Doctor Who Magazine comic strip; Big Finish Productions)
- Iris Wildthyme (Katy Manning) (Eighth Doctor Adventures; Past Doctor Adventures; Big Finish Productions)
- Jason Kane (Stephen Fewell) (New Adventures; Big Finish Productions)
- Kadiatu Lethbridge-Stewart (New Adventures)
- Muriel Frost (Karen Henson) (Doctor Who Magazine comic strip; Big Finish Productions)
- Sabbath (Saul Jaffe) (Eighth Doctor Adventures; Faction Paradox)
- Shayde (Mark Donovan) (Doctor Who Magazine comic strip; Big Finish Productions)
- Timewyrm (New Adventures)
- Irving Braxiatel (Miles Richardson) (New Adventures; Big Finish Productions)
- "The Curse of the Black Spot", "A Good Man Goes to War"
- "Victory of the Daleks", "The Pandorica Opens", "The Wedding of River Song"
- The Chase, "The Shakespeare Code"
- Silver Nemesis, "Voyage of the Damned"
- "The Beast Below" & "The Pandorica Opens"
- "Vincent and the Doctor", "The Pandorica Opens"
- The Wheel in Space. Doctor Who. 27 April 1968–1 June 1968. BBC. BBC1.
- "Episode Ten". The War Games. Doctor Who. 21 June 1969. BBC. BBC1.
- Doctor Who Magazine (388). 18 October 2007 (cover date)
- "Rise of the Cybermen"/"The Age of Steel", "Doomsday"
- "The Stolen Earth", "Journey's End", "The End of Time"
- The Abominable Snowmen. Doctor Who. 30 September 1967–4 November 1967. BBC.
- The Web of Fear. Doctor Who. 3 February 1968–9 March 1968. BBC.
- Writer Russell T Davies, Director Keith Boak, Producer Phil Collinson (26 March 2005). "Rose". Doctor Who. BBC. BBC One.
- Writer Russell T Davies, Director Euros Lyn, Producer Phil Collinson (2 April 2005). "The End of the World". Doctor Who. BBC. BBC One.
- Writer Russell T Davies, Director Keith Boak, Producer Phil Collinson (16 April 2005). "Aliens of London". Doctor Who. BBC. BBC One.
- Writer Russell T Davies, Director Keith Boak, Producer Phil Collinson (23 April 2005). "World War Three". Doctor Who. BBC. BBC One.
- Writer Paul Cornell, Director Joe Ahearne, Producer Phil Collinson (14 May 2005). "Father's Day". Doctor Who. BBC. BBC One.
- Jackie is not generally considered a companion to the Doctor, however she does fulfill this role in the two-part episode Army of Ghosts/Doomsday.
- "Dinosaurs on a Spaceship", "The Power of Three", "P.S."
- The Three Doctors. Doctor Who. 30 December 1972–20 January 1973. BBC. BBC1.
- "Victory of the Daleks", "The Pandorica Opens"
- "Day of the Moon", "The Curse of the Black Spot", "The Rebel Flesh"/"The Almost People", "A Good Man Goes to War"
- BBC Press Release: Tom Baker returns as the Fourth Doctor in new audio dramas, 27 July 2009; accessed 2 August 2009.