List of Doctor Who supporting characters

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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.

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 have died during the course of the series.

Many characters have appeared in multiple stories; some of which can also dubiously be considered companions, having travelled on the TARDIS, but not as a main character.

• Daleks
• Cybermen
• Time Lords

• Autons (of the Nestene Consciousness)
• Cybermats and Cybermites
• Zygons
• Sontarans
• Ice Warriors
• Weeping Angels
• Ood
• The Silence
• Yeti (of the Great Intelligence)
• Raxacoricofallapatorians (the Slitheen family's species)
• Judoon
• Ogrons
• Macra
• Silurians and Sea Devils
• Weevils
• Thals

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.

• Abslom Daak (Doctor Who Magazine comic strip; New Adventures)
• Beep the Meep (Toby Longworth, Bethan Dixon Bate, Miriam Margolyes^[1]) (Doctor Who Magazine comic strip; Big Finish Productions; 2023 specials^[1])
• 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)

• List of Bernice Summerfield characters
• List of Doctor Who cast members