| Companion Name | Actor/Actress |
| Adric | Matthew Waterhouse |
| Tegan Jovanka | Janet Fielding |
| Nyssa | Sarah Sutton |
| Vislor Turlough | Mark Strickson |
| Kamelion | Gerald Flood |
| Peri Brown | Nicola Bryant |
| Erimem | Caroline Morris |
| Thomas Brewster | John Pickard |
| Amy/Abby | Ciara Janson |
| Zara | Laura Doddington |
| Brigadier General Sir Alistair Gordon Lethbridge-Stewart | Nicholas Courtney |
| Marc (Marcipor) | |
| It is always possible that more companions | /friends may appear in future stories |