Marmaduke (Constant Companion)
From Tardis Wiki, the free Doctor Who reference
Marmaduke was the name that the Second Doctor gave to a large, cat-like creature created by a telepath exiled to a bubble universe to keep her company. The Doctor adopted Marmaduke as a companion aboard his TARDIS, but it caused him to have a telepathic fit, so he returned it to the bubble universe. (ST: Constant Companion)
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