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Below is a list of all the Doctors and their accompanying companions, some appear in multiple episodes and other have a one-off appearance.
First Doctor
| Companion | Actor/Actress | First serial | Last serial | Appearances with the First Doctor |
|---|---|---|---|---|
| Susan Foreman | Carole Ann Ford | An Unearthly Child | The Five Doctors | 11 |
| Barbara Wright | Jacqueline Hill | An Unearthly Child | The Chase | 16 |
| Ian Chesterton | William Russell | An Unearthly Child | The Chase | 16 |
| Vicki | Maureen O'Brien | The Rescue | The Myth Makers | 9 |
| Steven Taylor | Peter Purves | The Chase | The Savages | 10 |
| Katarina | Adrienne Hill | The Myth Makers | The Daleks' Master Plan | 2 |
| Sara Kingdom | Jean Marsh | The Daleks' Master Plan | The Daleks' Master Plan | 1 |
| Dodo Chaplet | Jackie Lane | The Massacre of St Bartholomew's Eve | The War Machines | 6 |
| Polly | Anneke Wills | The War Machines | The Tenth Planet | 3 |
| Ben Jackson | Michael Craze | The War Machines | The Tenth Planet | 3 |
Second Doctor
| Companion | Actor/Actress | First serial | Last serial | Appearances with the Second Doctor |
|---|---|---|---|---|
| Polly | Anneke Wills | The Power of the Daleks | The Faceless Ones | 6 |
| Ben Jackson | Michael Craze | The Power of the Daleks | The Faceless Ones | 6 |
| Jamie McCrimmon | Frazer Hines Hamish Wilson | The Highlanders | The Two Doctors | 21 (20 as companion) |
| Victoria Waterfield | Deborah Watling | The Evil of the Daleks | Fury from the Deep | 7 |
| Zoe Heriot | Wendy Padbury | The Wheel in Space | The War Games | 9 (8 as companion) |
| Brigadier Lethbridge-Stewart | Nicholas Courtney | The Web of Fear | Battlefield (With Seventh Doctor) | 3 (1 as companion) |
Third Doctor
| Companion | Actress | First serial | Last serial | Appearances with the Third Doctor |
|---|---|---|---|---|
| Liz Shaw | Caroline John | Spearhead from Space | Inferno | 5 (4 as companion) |
| Jo Grant | Katy Manning | Terror of the Autons | The Green Death | 15 |
| Sarah Jane Smith | Elisabeth Sladen | The Time Warrior | The End of Time Part 2 | 6 |
Fourth Doctor
Fifth Doctor
| Companion | Actor/Actress | First serial | Last serial | Appearances with the Fifth Doctor |
|---|---|---|---|---|
| Adric | Matthew Waterhouse | Full Circle | Earthshock | 8 (6 as companion) |
| Nyssa | Sarah Sutton | Castrovalva | Terminus | 12 (11 as companion) |
| Tegan Jovanka | Janet Fielding | Logopolis | Resurrection of the Daleks | 19 (18 as companion) |
| Vislor Turlough | Mark Strickson | Mawdryn Undead | Planet of Fire | 11 (10 as companion) |
| Kamelion | Gerald Flood (voice) | The King's Demons | Planet of Fire | 3 (2 as companion) |
| Peri Brown | Nicola Bryant | Planet of Fire | The Caves of Androzani | 2 |
Sixth Doctor
| Companion | Actress | First serial | Last serial | Appearances with the Sixth Doctor |
|---|---|---|---|---|
| Peri Brown | Nicola Bryant | The Twin Dilemma | The Trial of a Time Lord: Mindwarp | 9 |
| Melanie Bush | Bonnie Langford | The Trial of a Time Lord: Terror of the Vervoids | The Trial of a Timelord: The Ultimate Foe | 2 |
Seventh Doctor
| Companion | Actress | First serial | Last serial | Appearances with the Seventh Doctor |
|---|---|---|---|---|
| Melanie Bush | Bonnie Langford | Time and the Rani | Dragonfire | 4 |
| Ace | Sophie Aldred | Dragonfire | Survival | 9 |
Eighth Doctor
| Companion | Actress | Story | Appearances with the Eighth Doctor |
|---|---|---|---|
| Grace Holloway | Daphne Ashbrook | Television movie | 1 |
Ninth Doctor
| Companion | Actor/Actress | First episode | Last episode | Appearances with the Ninth Doctor |
|---|---|---|---|---|
| Rose Tyler | Billie Piper | "Rose" | "The Parting of the Ways" | 13 |
| Adam Mitchel | Bruno Langley | "Dalek" | "The Long Game" | 2 |
| Jack Harkness | John Barrowman | "The Empty Child" | "The Long Game" | 5 |
Tenth Doctor
| Companion | Actor/Actress | First episode | Last episode | Appearances with the Tenth Doctor |
|---|---|---|---|---|
| Rose Tyler | Billie Piper | "Doctor Who: Children in Need" | "Journey's End" | 22 (18 as companion) |
| Mickey Smith | Noel Clarke | "School Reunion" | "Journey's End" | 10 (5 as companion) |
| Donna Temple-Noble | Catherine Tate | "The Runaway Bride" | "The End Of Time" | 16 (14 as companion) |
| Martha Jones | Freema Agyeman | "Smith and Jones" | "Journey's End" | 19 (18 as companion) |
| Jack Harkness | John Barrowman | "Utopia" | "Journey's End" | 6 (5 as companion) |
| Astrid Peth | Kylie Minogue | "Voyage of the Damned" | "Voyage of the Damned" | 1 |
| Sarah Jane Smith | Elisabeth Sladen | "The Stolen Earth" | "The End of Time Part 2" | 4 (2 as companion) |
| Jackson Lake | David Morrissey | "The Next Doctor" | "The Next Doctor" | 1 |
| Rosita Farisi | Velile Tshabalala | "The Next Doctor" | "The Next Doctor" | 1 |
| Lady Christina de Souza | Michelle Ryan | "Planet of the Dead" | "Planet of the Dead" | 1 |
| Adelaide Brooke | Lindsay Duncan | "The Waters of Mars" | "The Waters of Mars" | 1 |
| Wilfred Mott | Bernard Cribbins | "Voyage of the Damned" | The End of Time | 8 (1 as companion) |
Eleventh Doctor
| Companion | Actor/Actress | First episode | Last episode | Appearances with the Eleventh Doctor |
|---|---|---|---|---|
| Amy Pond | Karen Gillan | "The Eleventh Hour" | Series 7, Episode 5 | 33 (31 as companion) |
| Rory Williams | Arthur Darvill | "The Vampires of Venice" | Series 7, Episode 5 | 27 (24 as companion) |
| River Song | Alex Kingston | "Time of the Angels" | "The Wedding of River Song" | 10 (5 as companion) |
| Craig Owens | James Corden | "The Lodger" | "Closing Time" | 2 (1 as companion) |
| Clara? | Jenna-Louise Coleman | Series 7, Episode 6 | N/A | TBA |