Following are links to lists of appearances for each of the Doctor's companions, ordered by the incarnation of the Doctor they featured with first and by which medium they primarily featured in.
First Doctor
Television
- Susan Foreman
- Ian Chesterton
- Barbara Wright
- Vicki Pallister
- Steven Taylor
- Katarina
- Sara Kingdom
- Bret Vyon (TV: The Daleks' Master Plan, AUDIO: The Guardian of the Solar System)
- Dodo Chaplet
- Polly Wright
- Ben Jackson
Audio
Prose
- Tony Barker (PROSE: The Monsters from Earth)
- Amy Barker (PROSE: The Monsters from Earth)
- Butch (PROSE: The Monsters from Earth)
- George Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Helen Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Alan Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Ida Mortimer (PROSE: Doctor Who and the Invasion from Space)
- Jack Strong (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Dot Strong (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Harroll Strong (PROSE: The Devil-Birds of Corbo, The Playthings of Fo)
- Shelly (PROSE: The Playthings of Fo)
- Chertzog - (PROSE: The Playthings of Fo)
- Hill (PROSE: The Playthings of Fo)
- Robert Zierath (PROSE: The Schoolboy's Story)
Comics
Second Doctor
Television
- Jamie McCrimmon
- Victoria Waterfield
- Zoe Heriot
- Brigadier Alistair Gordon Lethbridge-Stewart
- Sergeant John Benton
Prose
Comics
Third Doctor
Television
- Dr Liz Shaw
- Jo Grant
- Captain Mike Yates
- Sarah Jane Smith
Audio
Comics
- Arnold (COMIC: Children of the Evil Eye, Nova, The Amateur)
- Brod (COMIC: A Stitch in Time)
- Charlie Fisher (COMIC: Backtime)
- Lammers (COMIC: The Ugrakks)
- Finney (COMIC: The Planet of the Daleks)
Fourth Doctor
Television
- Harry Sullivan
- Leela
- K9
- Henry Gordon Jago
- George Litefoot
- Romana I
- Romana II
- Adric
- Nyssa
- Tegan Jovanka
Audio
Prose
Comics
- Sharon Davies
- Miss Young (COMIC: The Sea Devil)
- Joan Brown (COMIC: Doomcloud)
- Ivan Asimoff - to be added
- Andric (COMIC: The False Planet)
- Tiger Maratha (COMIC: The Swords of Kali)
Video game
Fifth Doctor
Television
Audio
- Iris Wildthyme
- Hannah Bartholemew (AUDIO: Moonflesh, Tomb Ship, Masquerade)
- Erimem
- Antranak (AUDIO: The Eye of the Scorpion, The Church and the Crown, No Place Like Home', Nekromanteia)
- Abby
- Zara
- Robert McIntosh (AUDIO: The Haunting of Thomas Brewster)
- Thomas Brewster
- Lady of the Manor (AUDIO: The Eternal Summer)
- Marcipor
Prose
- The Business Woman (PROSE: Time on a Vine)
- Will Chandler (TV: The Awakening, PROSE: The Hollow Men)
- Jane Hampden (TV: The Awakening, PROSE: The Hollow Men)
Comics
- Maxwell Edison
- Sir Justin of Wells (COMIC: The Tides of Time, A Life of Matter and Death)
- Angus "Gus" Goodman (COMIC: Lunar Lagoon, 4-Dimensional Vistas, The Moderator, The Stockbridge Showdown)
Video game
Sixth Doctor
Television
Audio
- Evelyn Smythe
- Mila (AUDIO: Patient Zero, Paper Cuts, Blue Forgotten Planet)
- Will Hoffman
- Emily Chaudhry
- Jason (PROSE: Face Value, AUDIO: The Ultimate Adventure, Beyond the Ultimate Adventure)
- Crystal (PROSE: Face Value, AUDIO: The Ultimate Adventure, Beyond the Ultimate Adventure)
- Zog (PROSE: Face Value, AUDIO: The Ultimate Adventure)
- Jamie McCrimmon of the Land of Fiction (AUDIO: City of Spires, Night's Black Agents, The Wreck of the Titan, Legend of the Cybermen)
- Flip Jackson
- Constance Clarke
- Heather Threadstone (AUDIO: Vampire of the Mind)
- Mathew Sharpe (AUDIO: The Lure of the Nomad)
- Joe Carnaby (AUDIO: Blood on Santa's Claw and Other Stories)
- Hebe Harrison
- Patricia McBride
Prose
- Grant Markham (PROSE: Time of Your Life, Killing Ground)
- William
- Flora Millrace (PROSE: The Avant Guardian, DS Al Fine)
Comics
Video game
Seventh Doctor
Television
Audio
- Raine Creevy
- Bev Tarrant
- Thomas Hector "Hex" Scofield
- Sally Morgan
- Lysandra Aristedes
- Elizabeth Klein
- Rachel Cooper (AUDIO: The Architects of History)
- Will Arrowsmith (AUDIO: Persuasion, Starlight Robbery, Daleks Among Us)
Prose
- Bernice Summerfield
- Jason Kane
- Roz Forrester
- Chris Cwej
- Wolsey
- Catherine Broome (PROSE: Companion Piece)
- Tramp (PROSE: The Tramp's Story, Repercussions...)
Comics
- Ly-Chee (COMIC: The Enlightenment of Ly-Chee the Wise)
- Olla (COMIC: A Cold Day in Hell!, Redemption!)
Eighth Doctor
Television
- Dr Grace Holloway
- Chang Lee (TV: Doctor Who)
Audio
- Charley Pollard
- C'rizz
- Samson Griffin (AUDIO: Terror Firma, PROSE: The Long Midwinter, Dear John, Big Bang Generation)
- Gemma Griffin (AUDIO: Terror Firma, PROSE: The Long Midwinter, Dear John, Big Bang Generation)
- Lucie Miller
- Daphne (AUDIO: Prisoner of the Sun)
- Tamsin Drew
- Mary Shelley
- Rita (AUDIO: Mary's Story)
- Todd (AUDIO: Mary's Story)
- Molly O'Sullivan
- Liv Chenka
- Helen Sinclair
- Sheena (AUDIO: The Starship of Theseus)
- Bliss
- Alex Campbell (AUDIO: Restoration of the Daleks, Meanwhile, Elsewhere, Vespertine, Previously, Next Time)
- Cass Fermazzi (AUDIO: Meanwhile, Elsewhere, Vespertine, Previously, Next Time)
Prose
- Sam Jones
- Fitz Kreiner
- Compassion
- Anji Kapoor
- Deborah Castle (PROSE: Father Time)
- Miranda Dawkins (PROSE: Father Time, COMIC: Miranda, PROSE: Sometime Never..., PROSE: Halflife, PROSE: The Gallifrey Chronicles)
- Trix MacMillan
- Edward Fyne (PROSE: The Eye of the Tyger)
- Lorenzo Smitt (PROSE: The Year of Intelligent Tigers)
- Bazima (PROSE: Nettles, Transmission Ends)
- Ayfai (PROSE: Not in My Back Yard)
- Evelyn Chan (PROSE: Spore)
Comics
- Stacy Townsend
- Ssard
- Izzy Sinclair
- Fey Truscott-Sade
- Kroton
- Ediphis (COMIC: The Power of Thoueris!)
- Billy Wilkins (COMIC: Doctor Who and the Nightmare Game)
- Ray Stobbs (COMIC: Doctor Who and the Nightmare Game)
- Destrii
- Chantir (COMIC: The Forgotten)
- Josie Day
War Doctor
Audio
- Rejoice (AUDIO: The Innocent, The Thousand Worlds, The Heart of the Battle)
- Heleyna (AUDIO: The Shadow Vortex, The Eternity Cage, Eye of Harmony)
- Kalan (AUDIO: The Eternity Cage, Eye of Harmony)
Prose
Comics
Ninth Doctor
Television
Prose
Comics
Audio
Tenth Doctor
Television
- Mickey Smith
- Donna Noble
- Martha Jones
- Astrid Peth (TV: Voyage of the Damned)
- Jenny
- River Song
- Jackson Lake (TV: The Next Doctor)
- Christina de Souza
- Adelaide Brooke (TV: The Waters of Mars)
- Cassie Rice (TV: Dreamland, COMIC: Dreamland)
- Jimmy Stalkingwolf (TV: Dreamland, COMIC: Dreamland)
- Wilfred Mott
Audio
Prose
- Mai Kondo (PROSE: The Frozen)
- Tom Wake (PROSE: The Hopes and Fears of All the Years)
- Nikki Jupiter (PROSE: Judgement of the Judoon)
- Rok Ma (PROSE: Judgement of the Judoon)
- June (PROSE: The Slitheen Excursion)
- Jon Bowman (PROSE: Prisoner of the Daleks)
- Koral (PROSE: Prisoner of the Daleks)
- Jake Carstairs (PROSE: The Taking of Chelsea 426)
- Vienna Carstairs (PROSE: The Taking of Chelsea 426)
- Wallace Fitch (PROSE: The Taking of Chelsea 426)
- Kate Maguire (PROSE: Autonomy)
- Emily Parr (PROSE: The Krillitane Storm)
- Captain Darke (PROSE: The Krillitane Storm)
- Gisella
- Christina de Souza 2.0 (PROSE: Keeping up with the Joneses)
Comics
- Heather McCrimmon
- Wolfgang Ryter
- Majenta Pryce
- Grayla (COMIC: The Whispering Gallery)
- Matthew Finnegan (COMIC: Silver Scream, Fugitive, Tesseract, Don't Step on the Grass, Final Sacrifice)
- Emily Winter
- Gabby Gonzalez
- Cindy Wu
- Anubis
- Rose-the-cat (COMIC: A Rose by Any Other Name)
- K9 Mark 2.0 (COMIC: A Rose by Any Other Name)
Eleventh Doctor
Television
- Amy Pond
- Rory Williams
- Craig Owens (TV: The Lodger, Closing Time, HOMEVID: Up All Night, PROSE: The Lodger)
- Kazran Sardick (TV: A Christmas Carol, AUDIO: Living History)
- Abigail Pettigrew (TV: A Christmas Carol)
- Canton Everett Delaware III (TV: The Impossible Astronaut / Day of the Moon)
- Madame Vastra
- Jenny Flint
- Strax
- Dorium Maldovar
- Brian Williams (TV: Dinosaurs on a Spaceship, The Power of Three)
- John Riddell (TV: Dinosaurs on a Spaceship)
- Nefertiti (TV: Dinosaurs on a Spaceship)
- Clara Oswald
- Angie Maitland (TV: The Bells of Saint John, Nightmare in Silver, The Name of the Doctor)
- Artie Maitland (TV: The Bells of Saint John, Nightmare in Silver, The Name of the Doctor)
- Handles (TV: The Time of the Doctor)
- Tasha Lem (TV: The Time of the Doctor)
Audio
Prose
- Lizzie Davies (PROSE: The Silurian Gift)
- Olga Bordmann (PROSE: Plague of the Cybermen)
- Jenibeth Blakely (PROSE: The Dalek Generation)
- Sabel Blakely (PROSE: The Dalek Generation)
- Ollus Blakely (PROSE: The Dalek Generation)
- Theol Willoughby (PROSE: An Apple a Day...)
Comics
- Kevin (COMIC: When Worlds Collide, Your Destiny Awaits, Space Squid)
- Edward Anderson (COMIC: The Dalek Project)
- Decky Flamboon
- Ally (COMIC: The Girl Who Loved Doctor Who)
- Alice Obiefune
- The Sapling
- John Jones
- ARC
- Abslom Daak
Twelfth Doctor
Television
- Courtney Woods
- Rigsy (TV: Flatline, Face the Raven)
- Bors (TV: The Doctor's Meditation, The Magician's Apprentice)
- Missy
- Nardole
- Grant (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
- Lucy Fletcher (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
- Jennifer Fletcher (TV: The Return of Doctor Mysterio, COMIC: Ghost Stories)
- Bill Potts
Prose
- 78351 (PROSE: Lights Out)
- Ceri (PROSE: Behind You)
- CJ (TV: Rose, PROSE: The Persistence of Memory)
- Peter Summerfield
- Jack McSpringheel
- Ruth Leonidas
Comics
- Athena (COMIC: The Ministry of Time)
- Estrella (COMIC: The Spice Route)
- Eliza Jones (COMIC: Shock Horror)
- Jain Relph (COMIC: Petals)
- Gertie (COMIC: Super Gran)
- George V (COMIC: Ghosts of the Seas)
- Heddy Garber (COMIC: Pirates of Vourakis)
- Jess Collins (COMIC: The Highgate Horror, The Pestilent Heart, Moving In, Bloodsport, Be Forgot, Doorway to Hell)
- Maxwell Collins (COMIC: The Pestilent Heart, Moving In, Bloodsport, Be Forgot, Doorway to Hell)
- Lloyd Collins (COMIC: The Pestilent Heart, Moving In, Be Forgot, Doorway to Hell)
- Hattie Munroe (COMIC: The Twist, Playing House)
- Julie d'Aubigny (COMIC: Terror of the Cabinet Noir)
- Jata
- Sonny Robinson (COMIC: Invasion of the Mindmorphs)
- Val Kent (COMIC: Invasion of the Mindmorphs)
Audio
- Brandon Yow (AUDIO: The Lost Angel, The Lost Planet, The Lost Magic, The Lost Flame)
- Alex Yow (AUDIO: The Lost Angel, The Lost Planet, The Lost Magic, The Lost Flame)
- Irene Hyde (AUDIO: The Ice Kings)
- Keira Sanstrom (AUDIO: Flight to Calandra, Split Second, The Weight of History)
- Arix (AUDIO: The Cuckoo)