Bellows
From Tardis Wiki, the free Doctor Who reference
In Earth-33⅓, the Doctor's TARDIS's iconic wheezing, groaning sound was produced by a huge bellows emblazoned BBC Sound Effect located in a room inside the TARDIS, and which was worked by Quinn and Howett. (COMIC: Outta Space [+]Loading...["Outta Space (comic story)"]) In the Doctor's universe, the sound was the result of the Doctor always mistakenly leaving the brakes on during take-off. (TV: The Husbands of River Song [+]Loading...["The Husbands of River Song (TV story)"])