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Following are links to lists of appearances for each of the Doctor's companions, ordered by the incarnation of the Doctor they featured with first and by which medium they primarily featured in.
First Doctor
Television
- Susan Foreman
- Ian Chesterton
- Barbara Wright
- Vicki Pallister
- Steven Taylor
- Katarina
- Sara Kingdom
- Dodo Chaplet
- Polly Wright
- Ben Jackson
Audio
Prose
- Tony Barker (PROSE: The Monsters from Earth)
- Amy Barker (PROSE: The Monsters from Earth)
- Butch (PROSE: The Monsters from Earth)
- George Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Helen Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Alan Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Ida Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Jack Strong - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Dot Strong - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Harroll Strong - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Shelly - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Chertzog - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Hill - (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Robert Zierath - (PROSE: The Schoolboy's Story)
Comic
Second Doctor
Television
- Jamie McCrimmon
- Victoria Waterfield
- Zoe Heriot
- Brigadier Alistair Gordon Lethbridge-Stewart
- Sergeant John Benton
Prose
Comic
Third Doctor
Television
- Dr Liz Shaw
- Jo Grant
- Captain Mike Yates
- Sarah Jane Smith
Audio
Comic
Fourth Doctor
Television
- Harry Sullivan
- Leela
- K9
- Henry Gordon Jago
- George Litefoot
- Romana I
- Romana II
- Adric
- Nyssa
- Tegan Jovanka
Audio
Prose
Comic
- Sharon Davies
- Miss Young (COMIC: The Sea Devil)
- Joan Brown (COMIC: Doomcloud)
- Ivan Asimoff - to be added
- Andric (COMIC: The False Planet)
- Tiger Maratha (COMIC: The Swords of Kali)
Video game
Fifth Doctor
Television
Audio
- Iris Wildthyme
- Hannah Bartholemew - to be added
- Erimem
- Antranak - to be added
- Abby
- Zara
- Robert McIntosh (AUDIO: The Haunting of Thomas Brewster)
- Thomas Brewster
- Lady of the Manor (AUDIO: The Eternal Summer)
Prose
- The Business Woman (PROSE: Time on a Vine)
- Will Chandler (TV: The Awakening, PROSE: The Hollow Men)
- Jane Hampden (TV: The Awakening, PROSE: The Hollow Men)
Comic
- Maxwell Edison
- Sir Justin of Wells (COMIC: The Tides of Time, A Life of Matter and Death)
- Angus "Gus" Goodman (COMIC: Lunar Lagoon, 4-Dimensional Vistas, The Moderator, The Stockbridge Showdown)
Video game
Sixth Doctor
Television
Audio
- Evelyn Smythe
- Mila (AUDIO: Patient Zero, Paper Cuts, Blue Forgotten Planet)
- Will Hoffman
- Emily Chaudhry
- Jason (PROSE: Face Value, AUDIO: The Ultimate Adventure, Beyond the Ultimate Adventure)
- Crystal (PROSE: Face Value, AUDIO: The Ultimate Adventure, Beyond the Ultimate Adventure)
- Zog (PROSE: Face Value, AUDIO: The Ultimate Adventure)
- Jamie McCrimmon of the Land of Fiction - to be added
- Flip Jackson
- Constance Clarke
- Heather Threadstone (AUDIO: Vampire of the Mind)
Prose
- Grant Markham (PROSE: Time of Your Life, Killing Ground)
- William Isaac
- Flora Millrace (PROSE: The Avant Guardian, DS Al Fine)
Comic
Video game
Seventh Doctor
Television
Audio
- Raine Creevey
- Thomas Hector "Hex" Scofield
- Sally Morgan
- Lysandra Aristedes
- Elizabeth Klein
- Will Arrowsmith (AUDIO: Persuasion, Starlight Robbery, Daleks Among Us)
- Sally Morgan
- Bev Tarrant
- Rachel Cooper (AUDIO: The Architects of History)
Prose
- Bernice Summerfield
- Jason Kane
- Roz Forrester
- Chris Cwej
- Wolsey
- Catherine Broome (PROSE: Companion Piece)
- The Tramp (PROSE: The Tramp's Story, Repercussions...)
Comic
Eighth Doctor
Television
- Dr Grace Holloway
- Chang Lee (TV: Doctor Who)
Audio
Prose
- Samantha Jones
- Fitz Kreiner
- Compassion
- Anji Kapoor
- Deborah Castle (PROSE: Father Time)
- Miranda Dawkins
- Trix MacMillan
- Bazima (PROSE: Nettles, Transmission Ends)
- Ayfai (PROSE: Not in My Back Yard)
- Evelyn Chan (PROSE: Spore)
Comic
War Doctor
Audio
- Rejoice (AUDIO: The Innocent, The Thousand Worlds, The Heart of the Battle)
- Heleyna (AUDIO: The Shadow Vortex, The Eternity Cage, Eye of Harmony)
- Kalan (AUDIO: The Eternity Cage, Eye of Harmony)
Prose
Comic
Ninth Doctor
Television
Prose
Comic
Tenth Doctor
Television
- Mickey Smith
- Donna Noble
- Martha Jones
- Astrid Peth (TV: Voyage of the Damned, rest to be added)
- Jenny (TV: The Doctor's Daughter, COMIC: The Choice, Endgame)
- River Song
- Jackson Lake (TV: The Next Doctor)
- Christina de Souza (TV: Planet of the Dead)
- Adelaide Brooke (TV: The Waters of Mars)
- Cassie Rice (TV: Dreamland, COMIC: Dreamland)
- Jimmy Stalkingwolf (TV: Dreamland, COMIC: Dreamland)
- Wilfred Mott
Audio
Prose
- Jon Bowman (PROSE: Prisoner of the Daleks)
- Jake Carstairs (PROSE: The Taking of Chelsea 426)
- Vienna Carstairs (PROSE: The Taking of Chelsea 426)
- Wallace Fitch (PROSE: The Taking of Chelsea 426)
Comic
Eleventh Doctor
Television
- Amy Pond
- Rory Williams
- Craig Owens (TV: The Lodger, Closing Time)
- Kazran Sardick (TV: A Christmas Carol, AUDIO: Living History)
- Abigail Pettigrew (TV: A Christmas Carol)
- Canton Everett Delaware III (TV: The Impossible Astronaut / Day of the Moon)
- Madame Vastra
- Jenny Flint
- Strax
- Brian Williams (TV: Dinosaurs on a Spaceship, The Power of Three)
- Clara Oswald
- Angie Maitland (TV: The Bells of Saint John, Nightmare in Silver, The Name of the Doctor)
- Artie Maitland (TV: The Bells of Saint John, Nightmare in Silver, The Name of the Doctor)
- Handles (TV: The Time of the Doctor)
- Tasha Lem (TV: The Time of the Doctor)
Audio
Prose
- Olga Bordmann (PROSE: Plague of the Cybermen)
- Jenibeth Blakely (PROSE: The Dalek Generation)
- Sabel Blakely (PROSE: The Dalek Generation)
- Ollus Blakely (PROSE: The Dalek Generation)
- Theol Willoughby (PROSE: An Apple a Day...)
Comic
Twelfth Doctor
Television
- Courtney Woods (TV: Deep Breath, Into the Dalek, The Caretaker, Kill the Moon)
- Rigsy (TV: Flatline, Face the Raven)
- Bors (TV: The Doctor's Meditation, The Magician's Apprentice)
- Nardole (TV: The Husbands of River Song, The Return of Doctor Mysterio)
- Grant Gordon (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
- Lucy Fletcher (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
- Jennifer Fletcher (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
Prose
- 78351 (PROSE: Lights Out)
- Ceri (PROSE: Behind You)
- CJ (TV: Rose, PROSE: The Persistence of Memory)
Comic
- Athena (COMIC: The Ministry of Time)
- Estrella (COMIC: The Spice Route)
- Eliza Jones (COMIC: Shock Horror)
- Jain Relph (COMIC: Petals)
- Gertie (COMIC: Super Gran)
- Hattie (COMIC: The Twist, Playing House)
- Jata