Jac Raynor removed the characters, not the author, she's the one who adapted those two audios that CzechOut's mentioned. Raynor adapted all the first series audios (and incidentally also Love and War (audio story)) except Beyond the Sun (audio story) which was adapted by its author.
Both versions, novel and audio I think are valid, but I wouldn't argue about overlaying the novelisations policy on all of the first series of Benny audios, not just the Doctor Who New Adventure derived ones. As Dragons' Wrath (audio story) especially suffers the adaption process being cut down from a full novel to a single story CD.