Following are links to lists of appearances for each of the Doctor's companions, ordered by the incarnation of his Doctor in whose stories they first appeared.
Television
First Doctor
- Susan Foreman
- Ian Chesterton
- Barbara Wright
- Vicki
- Steven Taylor
- Katarina
- Sara Kingdom
- Dorothea "Dodo" Chaplet
- Polly Wright
- Ben Jackson
Second Doctor
Third Doctor
- Dr. Elizabeth "Liz" Shaw
- Sgt. Benton
- Josephine "Jo" Grant
- Captain Mike Yates
- Sarah Jane Smith
Fourth Doctor
- Surgeon-Lieutenant Harry Sullivan
- Leela
- K-9
- Romana
- Adric
- Nyssa
- Tegan Jovanka
Fifth Doctor
Sixth Doctor
Seventh Doctor
- Ace a.k.a. Dorothy (Dorothée) McShane
Eighth Doctor
- Dr. Grace Holloway
- Appeared in Doctor Who (1996).
Ninth Doctor
- Appeared in Dalek and The Long Game.
Tenth Doctor
- Mickey Smith
- Donna Noble
- Martha Jones
- Astrid Peth (Appeared in Voyage of the Damned.)
Comic Strips
First Doctor
Third Doctor
Fourth Doctor
Fifth Doctor
- Appeared in Stars Fell on Stockbridge, End Game and The Stockbridge Child
- Sir Justin
- Appeared in The Tides of Time.
Sixth Doctor
Seventh Doctor
- Appeared in A Cold Day in Hell and Redemption.
Eighth Doctor
Novels
Sixth Doctor
Seventh Doctor
Eighth Doctor
Audio Adventures
Third Doctor
Fifth Doctor
Sixth Doctor
- First introduced as the companion of the Eighth Doctor, Charley joined the Sixth Doctor later.
Seventh Doctor
Eighth Doctor
Webcasts
Seventh Doctor
- Appeared in Death Comes to Time.
Alternative Ninth Doctor
- Appeared in Scream of the Shalka and The Feast of the Stone.
- Appeared in Scream of the Shalka and The Feast of the Stone.