Matt Lucas played Nardole in The Husbands of River Song, The Return of Doctor Mysterio, and throughout Series 10 of televised Doctor Who. He also voiced the Cylinder, and Jelloid in the Big Finish Doctor Who audio story The One Doctor.
Lucas spoofed the Second Doctor in the The (Doctor) Who skit on Shooting Stars in 1997.
There are many references to Doctor Who in his show Little Britain, co-created by David Walliams, which also starred Walliams, Anthony Head, Paul Putner and Tom Baker), including him playing a character named Sir Michael Craze.
He was in the mini-series Casanova, which was written by Russell T Davies, where he shared a few scenes and some dialogue with David Tennant.
In the TV-serie Community he played a fan at a "Inspector Spacetime"-Convention. "Inspector Spactime" is a parody of Doctor Who.