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Teela was a companion to one of the Doctor's first five incarnations.
Teela, Tegan, Leela, Zoe, Romana, Nyssa, and Victoria were a fraction of past companions the Fifth Doctor mentioned to a business woman who also became his companion. (PROSE: Time on a Vine)
Behind the scenes
Teela happens to be a portmanteau of Tegan and Leela, the companions listed after Teela.
While all the companions the business woman recalled happen to be female humans, Teela's gender and species are not explicitly mentioned.