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Beep (also known as Beep the Meep) was the ruthless leader of the Meeps and a galactic criminal, who referred to himself as the Most-High. Whilst most Meeps had white fur, Beep had purple fur.
In 1980, Beep led the Meep armada in an attempt to conquer the galaxy, but they were defeated by the Wrarth Warriors. Fleeing, Beep was pursued to Earth and his neutron drive star cruiser crashed at the Blackcastle steel mills. He was found by Sharon Davies and Fudge, who assumed the cute creature was harmless, and took him back to Fudge's home. Meep then used his ship's black orb to take control of the people of Blackcastle to make them repair his ship. The Doctor sabotaged the engines, and Beep was captured by the Wrarth Warriors. (DWM: The Star Beast)
In 1995, Beep was released from prison, having convinced the parole board that he had been rehabilitated. He returned to Blackcastle to retrieve his spare starship drive, but the Doctor trapped him within a Lassie film. (DWM: Star Beast II)
In the early 21st century, Beep escaped from the film, and hypnotised some television executives to air bad programmes such as Audience Shares. His goal was to hypnotise the viewing audience with subliminal messages on the debut episode of Meep and Friends, but he was once again defeated by the Doctor and arrested by security. (BFA: The Ratings War)
Years later, when a Vortex parasite attacked the Doctor's TARDIS, it summoned images of the Doctor's enemies, including Beep. (DWM: A Life of Matter and Death)
In a possibly apocryphal account, the Doctor and Izzy Sinclair pursued Beep to another universe, where he attempted another hypnotic attack. Although Beep managed to capture the Doctor, Izzy was able to recruit the assistance of Tom Baker to act as a distraction long enough for her to reprogram Beep's machines and defeat him. (DWM: TV Action!)
In a non-canonical appearance, Beep was interviewed in Doctor Who Magazine 419 by Ken Book (an acronym for Benjamin Cook), due to the fact that it was 30 years since his first appearance in The Star Beast. The interview contained a clipping from Gallifrey Gaurdian of Beep's trial after the events of The Star Beast. Beep hurled abuse at the jury and was given 3000 years imprisonment. 15 years later, Beep hacked off the judge's leg and beat the judge to death with it. At the end of the interview, he tricks the interviewer into scratching behind Beep's ear, therefore allowing Beep to grab the recorder that the interview is taped on, use it to produce a burst a sound of ultra-high-frequency sound to release his cuffs, and take out a laser pistol from beneath his fur and kill the interviewer. Presumably, he escapes the prison after that. Whether this appearance is canon or not is up for debate. If it is canon, it is set after DWM: TV Action!.