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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
- Appeared in Voyage of the Damned.
- Appeared in The Next Doctor.
- Appeared in Planet of the Dead.
- Appeared in The Waters of Mars.
Eleventh Doctor
Appeared in Silence in the Library, Forest of the Dead, The Time of Angels, Flesh and Stone, The Pandorica Opens, The Big Bang.
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.