Title cards/Torchwood
From Tardis Wiki, the free Doctor Who reference
Torchwood never employed title cards, except for the name of the series itself. Instead, the series merely superimposed the episode title over the action of the first scene after the series title card. Torchwood: Miracle Day abandoned even this practice, opting not to show the episode titles onscreen at all. Indeed, episode titles were only confirmed by their publication on the Starz website.
Series 1
Series 2
Series 3
Children of Earth was unique amongst Torchwood series in that it actually did have a very brief title card. The card was a brief, ten-second animation.
The Children of Earth title card began with this image
It then moved to this one
And then it finished with one like this image from Children of Earth: Day Two
