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The Eleventh Doctor once included a joke and two diagrams with proof of faster-than-light travel to convince a body of geniuses they should take his advice about how to save the world from annihilation by the Atraxi. (TV: The Eleventh Hour)
Andy Hansen once told a joke to Erimem which involved R2-D2 in the punchline. (PROSE: Arrrr...)
A running joke between Lim and Mitch was that Lim kept her phone on all the time and was an instant replier. (TV: Resolution)
Bram and Gregor Van Baalen told their amnesiac brother Tricky he was an android as a joke to relieve their boredom. (TV: Journey to the Centre of the TARDIS)
The Fourth Doctor prevented an Ectoslime from killing him by telling it a joke in an alien tongue. He later tried to translate to joke to General Ironicus ("These three aliens walk into a bar, and the first alien says...") but was interrupted before he got to the punchline. (COMIC: Doctor Who and the Iron Legion)
Prime Minister Jo Patterson believed that the Defense Drones were joking when they refused to be shut down. A Drone responded by saying "Daleks do not make jokes." (TV: Revolution of the Daleks)