| Companion Name | Actor/Actress |
| Ace - Dorothy McShane | Sophie Aldred |
| Melanie Bush | Bonnie Langford |
| Thomas Hector Scofield ('Hex') | Philip Olivier |
| Lysandra Aristedes | Maggie O'Neill |
| Sally Morgan | Amy Pemberton |
| Bernice Summerfield | Lisa Bowerman |
| Raine Creevy | Beth Chalmers |
| Elizabeth Klein | Tracey Childs |
| Will Arrowsmith | Christian Edwards |
| Brigadier General Sir Alistair Gordon Lethbridge-Stewart | Nicholas Courtney |
| It is always possible that more companions | /friends may appear in future stories |