The Sea Devils

From http://www.bbc.co.uk/doctorwho/classic/episodeguide

The Doctor and Jo visit the Master in his high-security prison on an island off the south coast of England and hear from the governor, Colonel Trenchard, that ships have been mysteriously disappearing at sea.

Investigating, the Doctor learns from Captain Hart, commander of a nearby Naval base, that the sinkings have centred around an abandoned sea fort. He and Jo then visit the fort and are attacked by what one of the men there terms a Sea Devil - an amphibious breed of the prehistoric creatures encountered by the Doctor shortly after his exile to Earth.

The Master, aided by a misguided Trenchard, is stealing equipment from the Naval base in order to build a machine to revive the Sea Devils from hibernation.

The Doctor takes a diving bell down to the Sea Devils' underwater base to try to encourage peace. His efforts are frustrated by a depth charge attack ordered by a pompous politician, Walker, but in the confusion he manages to free a captured submarine and escape back to the surface.

The Sea Devils then capture the Naval base, and the Master has the Doctor taken back to their control centre, where he forces him to help finish the machine. The Doctor sabotages the machine and the two Time Lords escape together just as the base is destroyed in an explosion.

6 out of 26 (23.1%) raters say this story requires a previous story.