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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
- K9
- Romana I
- Romana II
- 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
- Rose Tyler
- Adam Mitchell
- Appeared in DW: Dalek and The Long Game.
- Jack Harkness
Tenth Doctor
- Mickey Smith
- Donna Noble
- Martha Jones
- Astrid Peth
- Appeared in DW: Voyage of the Damned.
- River Song
- Jackson Lake
- Appeared in The Next Doctor.
- Christina de Souza
- Appeared in DW: Planet of the Dead.
- Adelaide Brooke
- Appeared in DW: The Waters of Mars.
- Cassie Rice
- Jimmy Stalkingwolf
- Wilfred Mott
Eleventh Doctor
- Amy Pond
- Rory Williams
- Craig Owens
- Appeared in DW: The Lodger and Closing Time.
- Kazran Sardick
- Appeared in DW: A Christmas Carol.
- Abigail Pettigrew
- Appeared in DW: A Christmas Carol.
Comic Strips
First Doctor
Third Doctor
- Arnold
- Appeared in Children of the Evil Eye, Nova, and The Amateur.
Fourth Doctor
- Sharon Davies
- Appeared in DWM: Doctor Who and the Star Beast, Doctor Who and the Dogs of Doom, Evil Egg, Sands of Time, Mind-Jump, The Hole Truth, Breakdown, The Time Witch, Dragon's Claw, The Collector, Dreamers of Death and A Life of Matter and Death (re-creation by TARDIS).
Fifth Doctor
- Maxwell Edison
- Appeared in DWM: Stars Fell on Stockbridge, Endgame and The Stockbridge Child.
- Sir Justin
- Appeared in DWM: The Tides of Time.
- Angus "Gus" Goodman
- Appeared in DWM: Lunar Lagoon, 4-Dimensional Vistas and The Moderator.
Sixth Doctor
Seventh Doctor
- Olla
- Appeared in DWM: A Cold Day in Hell! and Redemption.
Eighth Doctor
- Stacy Townsend
- Appeared in RT: Dreadnought, Descendance, Ascendance, Perceptions and Coda and EDA: Placebo Effect.
- Ssard
- Appeared in RT: Descendance, Ascendance, Perceptions and Coda and EDA: Placebo Effect.
- Izzy Sinclair
- Fey Truscott-Sade
- Appeared in DWM: Tooth and Claw, The Final Chapter, Wormwood, Me and My Shadow and Oblivion.
- Kroton
- Destrii
- Appeared in DWM: Ophidius, Uroboros, Oblivion, Bad Blood, Sins of the Fathers and Thinktwice.
Novels
Sixth Doctor
- Grant Markham
- Appeared in MA: Time of Your Life and Killing Ground.
Seventh Doctor
Eighth Doctor
Audio adventures
Third Doctor
- Jeremy Fitzoliver
- Appeared in BBCR: The Paradise of Death, The Ghosts of N-Space, MA: The Ghosts of N-Space, PDA: Island of Death, ST: Neptune and Sedna.
Fifth Doctor
Sixth Doctor
- Dr. Evelyn Smythe
Seventh Doctor
Eighth Doctor
- Charlotte "Charley" Pollard
- First introduced as the companion of the Eighth Doctor, Charley joined the Sixth Doctor later.
- C'rizz
- Lucie Miller
- Tamsin Drew
Webcasts
Seventh Doctor
- Antimony
- Appeared in WC: Death Comes to Time.
Alternative Ninth Doctor
- The Master
- Appeared in WC: Scream of the Shalka and The Feast of the Stone.
- Alison Cheney
- Appeared in WC: Scream of the Shalka and The Feast of the Stone.
Dalek Movies (Peter Cushing)
- Susan
- Barbara
- Appeared in Dr. Who and the Daleks and ST: The House on Oldark Moor.
- Ian
- Appeared in Dr. Who and the Daleks and ST: The House on Oldark Moor.
- Louise
- Appeared in Daleks' Invasion Earth 2150 A.D. and DWM: Daleks Versus the Martians.
- Tom Campbell
- Appeared in Daleks' Invasion Earth 2150 A.D.