The Time Machine

You may be looking for the audio story known as Exploration Earth, also called "The Time Machine".

The Time Machine was a short science fiction novel by H. G. Wells, which may have been inspired by Wells' adventure with the Doctor (DW: Timelash), or possibly by Wells' friend Theophilus Tolliver. (TVA: The Eternal Present)

Professsor Chronotis settled down to read a paperback copy of this story. (DW: Shada)

Likewise, the Doctor relaxed by reading a copy of this book during his aborted mission to return the Master's remains to Gallifrey. Following his regeneration soon after, the new incarnation of the Doctor once more attempted to do the same; both times, a skipping record interrupted him. (DW: Doctor Who)

Behind the Scenes

Doctor Who owes a great debt to H. G. Wells in general and to The Time Machine. The 1960 film version in particular, combined with Wells' The War of the Worlds, quite possibly inspired The Daleks.