Such a long-running series inevitably has numerous instances of actors appearing multiple times in different roles, sometimes decades apart. This includes eight companions — and two Doctors — played by actors who had previously appeared in guest roles, and three cases of guest roles going to actors who had previously played companions.
- Alethea Charlton played Hur in "An Unearthly Child" and Edith in "The Time Meddler".
- Jeremy Young played Kal in "An Unearthly Child" and Gordon Lowery in "Mission to the Unknown".
- Derek Newark played Za in "An Unearthly Child" and Greg Sutton in "Inferno".
- Eileen Way played the Old Mother in "An Unearthly Child" and Karela in "The Creature from the Pit".
- Gabor Baraker played Wang-Lo in "Marco Polo" and Luigi Ferrigo in "The Crusade".
- Tutte Lemkow played Kuiju in "Marco Polo", Ibrahim in "The Crusade" and Cyclops in "The Myth Makers".
- Leslie Bates played the Man at Lop in "Marco Polo" and the Second Guard in "The Massacre".
- Michael Guest played a Mongol bandit in "Marco Polo", a Saxon hunter in "The Time Meddler" and the Interviewer in "The Daleks' Master Plan".
- Philip Voss played Acomat in "Marco Polo" and Wahed in "The Dominators".
- Jimmy Gardner played Chenchu in "Marco Polo" and Idmon in "Underworld".
- Zienia Merton played Ping-Cho in "Marco Polo" and the Registrar in The Sarah Jane Adventures story "The Wedding of Sarah Jane Smith".
- Stephen Dartnell played Yartek in "The Keys of Marinus" and John in "The Sensorites".
- Edmund Warwick played Darrius in "The Keys of Marinus" and the Robot Doctor in "The Chase".
- Francis De Wolff played Vasor in "The Keys of Marinus" and Agamemnon in "The Myth Makers".
- Donald Pickering played Eyesen in "The Keys of Marinus", Captain Blade in "The Faceless Ones" and Beyus in "Time and the Rani".
- Martin Cort played Aydanin in "The Keys of Marinus" and Locke in "The Seeds of Death".
- Fiona Walker played Kala in "The Keys of Marinus" and Lady Peinforte in "Silver Nemesis".
- David Anderson played an Aztec Captain in "The Aztecs", a soldier in "The Reign of Terror", Reynier de Marun in "The Crusade", an Egyptian soldier in "The Daleks' Master Plan" and Sven in "The Time Meddler"
- Walter Randall played Tonila in "The Aztecs", El Akir in "The Crusade", Hyksos in "The Daleks' Master Plan", a Patrolman in "The Invasion", Harry Slocum in "Inferno" and a Guard Captain "Planet of the Spiders".
- John Ringham played Tlotoxl in "The Aztecs", Josiah Blake in "The Smugglers" and Robert Ashe in "Colony in Space".
- Margot Van der Burgh played Cameca in "The Aztecs" and Katura in "The Keeper of Traken".
- Martyn Huntley played one of the humans in the cavern in "The Sensorites", a Roboman in "The Dalek Invasion of Earth" and Warren Earp in "The Gunfighters".
- John Bailey played the Commander in "The Sensorites", Edward Waterfield in "The Evil of the Daleks" and Sezom in "The Horns of Nimon".
- James Hall played as a soldier in "The Reign of Terror" and Borkar in "The Daleks' Master Plan".
- Dallas Cavell played the road works overseer in "The Reign of Terror", Bors in "The Daleks' Master Plan", Trask in "The Highlanders", Sir James Quinlan in "The Ambassadors of Death", and the Head of security in "Castrovalva".
- James Cairncross played James Stirling in "The Reign of Terror" and Beta in "The Krotons".
- Edward Brayshaw played Léon Colbert in "The Reign of Terror" and the War Chief in "The War Games".
- Terry Bale played a soldier in "The Reign of Terror" and as the voice of Arcturus in "The Curse of Peladon".
- Caroline Hunt played Danielle in "The Reign of Terror" and a technician in "Frontier in Space".
- Roy Herrick played Jean in "The Reign of Terror" and Parsons in "The Invisible Enemy". He also voiced Xoanon in "The Face of Evil".
- Bernard Kay played Carl Tyler in "The Dalek Invasion of Earth", Saladin in "The Crusade", Inspector Crossland / The Director in "The Faceless Ones" and Caldwell in "Colony in Space".
- Michael Goldie played Jack Craddock in "The Dalek Invasion of Earth" and Elton Laleham in "The Wheel in Space".
- John Caesar played a man in market in "The Romans", Monoid Four in "The Ark", a guard in "The Macra Terror", The Sea Devils - C.P.O. Myers in "The Sea Devils" and an R/T Soldier in "Invasion of the Dinosaurs".
- Kay Patrick played Poppaea in The Romans and Flower in "The Savages".
- Barry Jackson played Ascaris in "The Romans", Jeff Garvey in "Galaxy 4" and "Mission to the Unknown" and Drax in "The Armageddon Factor".
- Peter Diamond played Delos in "The Romans", a Morok Guard in "The Space Museum", a Sailor in "The Highlanders" and Davis in "The Ice Warriors".
- Edward Kelsey played a slave buyer in "The Romans", Resno in "The Power of the Daleks" and Edu in "The Creature from the Pit".
- Gertan Klauber played the galley master in "The Romans" and Ola in "The Macra Terror".
- Steve Peters played a man at the banquet in "The Romans", an Ice Warrior in "The Seeds of Death", a Pirate Guard in "The Space Pirates" and Joe Lefee in "The Ambassadors of Death".
- Dennis Edwards played a Centurion in "The Romans" and Lord Gomer in "The Invasion of Time".
- Anne Tirard played Locusta in "The Romans" and the Seeker in "The Ribos Operation".
- Roslyn De Winter played Vrestin in "The Web Planet" and the Grey Lady in "The Chase".
- Arne Gordon played Hrostar in "The Web Planet" and the Empire State Building tour guide in "The Chase".
- Ian Thompson played Hetra in "The Web Planet" and Malsan in "The Chase".
- Martin Jarvis played Hilio in "The Web Planet", Butler in "Invasion of the Dinosaurs" and the Governor in "Vengeance on Varos".
- Billy Cornelius played a man-at-arms in The Crusade and a Morok Guard in The Space Museum.
- Roger Avon played Saphadin in "The Crusade" and Daxtar in "The Daleks' Master Plan".
- Reg Pritchard played Ben Daheer in "The Crusade" and a man in a Mackintosh in "The Daleks' Master Plan".
- Derek Ware played a Saracen Warrior in "The Crusade", Tuthmos in "The Daleks' Master Plan", the Spaniard in "The Smugglers", a UNIT Sergeant in "The Ambassadors of Death", Private Wyatt in "Inferno" and Pigbin Josh in "The Claws of Axos".
- Bruce Wightman played Sir William de Tornebu in "The Crusade", Scott in "The Daleks' Master Plan" and the Radio Operator in "Terror of the Zygons".
- Jean Marsh played Princess Joanna in "The Crusade" and Sara Kingdom in "The Daleks' Master Plan" in the 1960s (the latter frequently considered to be a companion), and then returned in the 1989 serial "Battlefield" as the villain, Morgaine.
- Chris Konyils played a Saracen warrior in "The Crusade", an African ISC officer in "The Tenth Planet" and a Wheel crewmember in "The Wheel in Space".
- Tony Caunter played Thatcher in "The Crusade" , Morgan in "Colony in Space" and Jackson in "Enlightenment".
- Julian Glover played Richard the Lionheart in "The Crusade" and Scaroth in "City of Death".
- John Flint played William des Preaux in "The Crusade" and Captain Urquhart in "Time-Flight".
- Ivor Salter played the Morok Commander in "The Space Museum", Odysseus in "The Myth Makers" and Sergeant Markham in "Black Orchid".
- Peter Craze played Dako in "The Space Museum", Du Pont in "The War Games" and Costa in "Nightmare of Eden".
- Richard Shaw played Lobos in "The Space Museum", Cross in "Frontier in Space", and Lakh in "Underworld".
- Jeremy Bulloch played Tor in "The Space Museum", and Hal in "The Time Warrior".
- Malcolm Rogers played the Dracula robot "The Chase" and a policeman in "The Daleks' Master Plan".
- David Blake Kelly played Captain Benjamin Briggs in "The Chase" and Jacob Kewper in "The Smugglers".
- Dennis Chinnery played Albert C. Richardson in "The Chase", Gharman in "Genesis of the Daleks" and Sylvest in "The Twin Dilemma".
- Hugh Walters played William Shakespeare in "The Chase", Runcible in "The Deadly Assassin", and Vogel in "Revelation of the Daleks".
- Roger Hammond played Francis Bacon in "The Chase" and Dr. Runciman in "Mawdryn Undead".
- Ronald Rich played Gunnar the Giant in "The Time Meddler" and Trantis in "Mission to the Unknown".
- Geoffrey Cheshire played the Viking leader in "The Time Meddler", Garge in "The Daleks' Master Plan" and Tracy in "The Invasion".
- Norman Hartley played Ulf in "The Time Meddler" and Sergeant Peters in "The Invasion".
- Robert Cartland voiced the Rills in "Galaxy 4" and played Malpha in "Mission to the Unknown".
- Terence Woodfield played Celation in "The Daleks' Master Plan" and Maharis in "The Ark".
- Clifford Earl played the station sergeant in "The Daleks' Master Plan" and Major Branwell in "The Invasion".
- Kevin Stoney played Mavic Chen in "The Daleks' Master Plan", Tobias Vaughn in "The Invasion" and Tyrum in "Revenge of the Cybermen".
- Brian Cant played Kert Gantry in "The Daleks' Master Plan" and Tensa in "The Dominators".
- Sheila Dunn played Blossom Lefavre in "The Daleks' Master Plan" and Petra Williams in "Inferno". Both serials were directed by her husband Douglas Camfield.
- Royston Tickner played Steinberger P. Green in "The Daleks' Master Plan" and Robbins in "The Sea Devils".
- John Herrington played Rhynmal in "The Daleks' Master Plan" and Jim Holden in "Colony in Space".
- Roy Evans played Trantis in "The Daleks' Master Plan", Bert Pritchard in "The Green Death" and Peladonian miner Rima in "The Monster of Peladon".
- Roger Brierley played Trevor in "The Daleks' Master Plan" and voiced Drathro in "The Mysterious Planet".
- John Slavid played an officer in "The Massacre" and the man in telephone box in "The War Machines".
- Christopher Tranchell played Roger Colbert in "The Massacre", Steven Jenkins in "The Faceless Ones", and Andred in "The Invasion of Time".
- Michael Bilton played Charles de Teligny in "The Massacre", Collins in "Pyramids of Mars", and a Time Lord in "The Deadly Assassin".
- Erik Chitty played Charles Preslin in "The Massacre" and Engin in The "The Deadly Assassin".
- Reginald Jessup played the servant in "The Massacre" and Savar in "The Invasion of Time".
- David Weston played Nicholas Muss in "The Massacre" and Biroc in "Warriors' Gate".
- Leonard Sachs played Admiral Gaspard de Coligny in "The Massacre" and Lord President Borusa in "Arc of Infinity".
- Richard Beale voiced the Refusian in "The Ark" and the Colony Broadcast in "The Macra Terror", and played Bat Masterson in "The Gunfighters" and the Minister of Ecology in "The Green Death".
- Roy Spencer played Manyak in "The Ark" and Frank Harris in "Fury from the Deep".
- Terence Bayler played Yendom in "The Ark" and Major Barrington in "The War Games".
- Over the course of the classic series, Michael Sheard played no less than six different roles in six different stories (Rhos in "The Ark", Dr. Roland Summers in "The Mind of Evil", Laurence in "Pyramids of Mars", Lowe in "The Invisible Enemy", Mergrave in "Castrovalva" and the Headmaster of Coal Hill School in "Remembrance of the Daleks").
- Ian Frost played Baccu in "The Ark" and a Draconian messenger in "Frontier in Space".
- Michael Gough played the title character of "The Celestial Toymaker" and Councillor Hedin in "Arc of Infinity".
- Peter Stephens played Cyril, the Kitchen Boy, and the Knave of Hearts in "The Celestial Toymaker" and Lolem in "The Underwater Menace".
- Carmen Silvera played Clara the Clown, Mrs Wiggs and the Queen of Hearts in "The Celestial Toymaker" and Ruth in "Invasion of the Dinosaurs".
- David Graham played Charlie in "The Gunfighters" and Professor Kerensky in "City of Death".
- Laurence Payne played Johnny Ringo in "The Gunfighters", Morix in "The Leisure Hive" and Dastari in "The Two Doctors".
- Lynda Baron played the All-Knowing Singing Narrator in "The Gunfighters", Captain Wrack in "Enlightenment" and Val in "Closing Time".
- Clare Jenkins played Nanina in "The Savages" and Tanya Lernov in "The Wheel in Space" and "The War Games".
- Robert Sidaway played Avon in "The Savages" and Captain Jimmy Turner in "The Invasion".
- Patrick Godfrey played Tor in "The Savages" and Major Cosworth in "The Mind of Evil".
- Ewen Solon played Chal in "The Savages" and Vishinsky in "Planet of Evil".
- Frederick Jaeger played Jano in "The Savages", Sorenson in "Planet of Evil" and Professor Frederick Marius in "The Invisible Enemy".
- Gerald Taylor played the Machine Operator and voiced WOTAN in "The War Machines", Damon's assistant in "The Underwater Menace", the Baker's man in "The Dæmons" and Vega Nexos in "The Monster of Peladon".
- John Rolfe played a Captain in "The War Machines", Sam Becket in "The Moonbase" and Ralph Fell in "The Green Death".
- Sandra Bryant played Kitty in "The War Machines" and Chicki in "The Macra Terror".
- John Harvey played Professor Brett in "The War Machines" and Officia in "The Macra Terror".
- Ric Felgate played Roy Stone in "The War Machines", Brent in "The Seeds of Death" and Charles Van Lyden in "The Ambassadors of Death".
- Carl Conway played the US correspondent in "The War Machines" and a control room assistant in "The Ambassadors of Death".
- Frank Jarvis played a corporal in "The War Machines", Ankh in "Underworld" and Skart in "The Power of Kroll".
- Paul Whitsun-Jones played the Squire in "The Smugglers" and the Marshal of Solos in "The Mutants".
- Gregg Palmer played Gern and Shav in "The Tenth Planet" and Lieutenant Lucke in "The War Games".
- Peter Forbes-Robertson played a guard in "The Power of the Daleks", Pandad IV in "Colony in Space", and the Chief Sea Devil in "The Sea Devils".
- Peter Bathurst played Hensell in "The Power of the Daleks" and Horatio Chinn in "The Claws of Axos".
- Robert Russell played a Guard in "The Power of the Daleks" and the Caber and his Zygon duplicate in "Terror of the Zygons".
- Bernard Archard played Bragen in "The Power of the Daleks" and Marcus Scarman in "Pyramids of Mars".
- Robert James played Lesterson in "The Power of the Daleks" and the High Priest in "The Masque of Mandragora".
- William Dysart played Alexander McLaren in "The Highlanders" and Reegan in "The Ambassadors of Death".
- David Garth played Solicitor Grey in "The Highlanders" and the bowler-hatted Time Lord in "Terror of the Autons".
- Peter Welch played a Sergeant in "The Highlanders" and Morgan in "The Android Invasion".
- Noel Johnson played Thous in "The Underwater Menace" and Sir Charles Grover in "Invasion of the Dinosaurs".
- Colin Jeavons played Damon in "The Underwater Menace" and George Tracey in the one episode of K-9 and Company.
- Barry Ashton played Franz Schultz in "The Moonbase", Proctor in "The Time Monster" and Kemp in "Frontier in Space".
- Alan Rowe played Dr Evans in "The Moonbase", Edward of Wessex in "The Time Warrior", James Skinsale in "Horror of Fang Rock" and Garif in "Full Circle".
- Graham Leaman played the Controller in "The Macra Terror", Price in "Fury from the Deep", the Grand Marshall in "The Seeds of Death", a Time Lord in "Colony in Space" and a (different) Time Lord in "The Three Doctors".
- Ian Fairbairn played Questa in "The Macra Terror", Mark Gregory in "The Invasion", John Bromley in "Inferno" and Doctor Chester in "The Seeds of Doom".
- Terence Lodge played Medok in "The Macra Terror", Orum in "Carnival of Monsters", and Moss in "Planet of the Spiders".
- Luan Peters played Chicki in episode four of "The Macra Terror" and Sheila in "Frontier in Space".
- Peter Jeffrey played the Pilot in "The Macra Terror" and Count Grendel of Gracht in "The Androids of Tara".
- James Appleby played a Policeman in "The Faceless Ones" and a Guard in "The Masque of Mandragora".
- Wanda Ventham played Jean Rock in "The Faceless Ones", Thea Ransome in "Image of the Fendahl" and Faroon in "Time and the Rani".
- Pauline Collins played Samantha in "The Faceless Ones" and Queen Victoria in "Tooth and Claw".
- Sonny Caldinez played Kemel in "The Evil of the Daleks" and four different Ice Warriors: Turoc) in "The Ice Warriors", an unnamed Ice Warrior in "The Seeds of Death", Ssorg in "The Curse of Peladon" and Sskel in"The Monster of Peladon".
- Cyril Shaps played John Viner in "The Tomb of the Cybermen", Lennox in "The Ambassadors of Death" Professor Clegg in "Planet of the Spiders" and the Archimandrite in "The Androids of Tara".
- Roy Stewart played Toberman in "The Tomb of the Cybermen" and Tony in "Terror of the Autons".
- Bernard Holley played Peter Haydon in "The Tomb of the Cybermen" and the Axon Man in "The Claws of Axos".
- Michael Kilgarriff played the Cyber Controller in "The Tomb of the Cybermen" and "Attack of the Cybermen", an Ogron in "Frontier in Space", and the titular Robot in "Robot".
- Clive Merrison played Jim Callum in "The Tomb of the Cybermen" and the Deputy Chief Caretaker in "Paradise Towers".
- Norman Jones played Khrisong in "The Abominable Snowmen", Major Baker in "Doctor Who and the Silurians" and Hieronymous in "The Masque of Mandragora".
- Charles Morgan played Songsten in "The Abominable Snowmen" and the Gold Usher in "The Invasion of Time".
- Tony Harwood played Rintan in "The Ice Warriors" and Tony Flynn in "The Ambassadors of Death".
- Angus Lennie played Storr in "The Ice Warriors" and Angus MacRanald in "Terror of the Zygons".
- Michael Attwell played Isbur in "The Ice Warriors" and Bates in "Attack of the Cybermen".
- David Troughton (son of Second Doctor Patrick Troughton) has appeared four times over the years: an uncredited extra in "The Enemy of the World", Moor in "The War Games" (both of these during his father's tenure as the Doctor), King Peladon in "The Curse of Peladon" and Professor Hobbes in "Midnight". In addition, he has played the Second Doctor in audio book adventures.
- Simon Cain played Curly in "The Enemy of the World" and a Silurian in "Doctor Who and the Silurians".
- Andrew Staines played Benik's Sergeant in "The Enemy of the World", Goodge in "Terror of the Autons", the Captain in "Carnival Of Monsters" and Keaver in "Planet of the Spiders".
- Christopher Burgess played Swann in "The Enemy of the World", Professor George Philips in "Terror of the Autons" and Barnes in "Planet of the Spiders".
- George Pravda played Alexander Denes in "The Enemy of the World", Professor Jaeger in "The Mutants" and Castellan Spandrell in "The Deadly Assassin".
- Milton Johns played Theodore Benik in "The Enemy of the World", Guy Crayford in "The Android Invasion" and Castellan Kelner in "The Invasion of Time".
- Colin Douglas played Donald Bruce in "The Enemy of the World" and Reuben in "Horror of Fang Rock".
- Derek Pollitt played Evans in "The Web of Fear", Private Wright in "Doctor Who and the Silurians", and A. St. John D. Caldera in "Shada".
- Ralph Watson played Captain Knight in "The Web of Fear", Ettis in "The Monster of Peladon" and Ben Travers in "Horror of Fang Rock".
- Richardson Morgan played Corporal Blake in "The Web of Fear" and Rogin in "The Ark in Space".
- Bernard G. High played a soldier in "The Web of Fear" and a Corporal in "Terror of the Zygons".
- Hubert Rees played the Chief Engineer in "Fury from the Deep", Captain Ransom in "The War Games", and John Stevenson in "The Seeds of Doom".
- John Abineri played Van Lutyens in "Fury from the Deep", General Carrington in "The Ambassadors of Death", Richard Railton in "Death to the Daleks and Ranquin in "The Power of Kroll".
- June Murphy played Maggie Harris in "Fury from the Deep" and Third Officer Jane Blythe in "The Sea Devils".
- Margaret John played Megan Jones in "Fury from the Deep" and Grandma Connolly in "The Idiot's Lantern".
- Donald Sumpter played Enrico Casali in "The Wheel in Space", Commander Ridgeway in "The Sea Devils" and Rassilon in "Hell Bent".
- James Mellor played Sean Flannigan in "The Wheel in Space" and Varan in "The Mutants".
- Ronald Allen played Rago in "The Dominators" and Ralph Cornish in "The Ambassadors of Death".
- Sheila Grant voiced the Quarks in "The Dominators", and played Jane Leeson in "Colony in Space".
- Malcolm Terris' played Etnin in "The Dominators" and the Co-pilot in "The Horns of Nimon".
- Arthur Cox played Cully in "The Dominators" and Mr Henderson in "The Eleventh Hour".
- Bernard Horsfall played Lemuel Gulliver in "The Mind Robber", a Time Lord overseeing the Doctor's trial in "The War Games", Taron in "Planet of the Daleks" and Chancellor Goth in "The Deadly Assassin". It's often assumed that Chancellor Goth and his unnamed Time Lord character from "The War Games" are one and the same, but this has never been officially confirmed.
- Christopher Robbie played the Karkus in "The Mind Robber" and the Cyber-Leader in "Revenge of the Cybermen".
- Peter Halliday played Packer in "The Invasion", Pletrac in "Carnival of Monsters", a soldier in "City of Death" and the Vicar in "Remembrance of the Daleks".
- Edward Burnham played Professor Watkins in "The Invasion" and Professor Kettlewell in "Robot".
- Stacy Davies played Perkins in "The Invasion" and Veros in "State of Decay".
- Philip Madoc played Eelek in "The Krotons", the War Lord in "The War Games", Solon in "The Brain of Morbius" and Fenner in "The Power of Kroll".
- Gilbert Wynne played Thara in "The Krotons" and an old man in Torchwood's "The Gathering"
- Harry Towb played Osgood in "The Seeds of Death" and McDermott in Terror of the Autons".
- Alan Bennion played three different Ice Warriors: Slaar in "The Seeds of Death", Izlyr in "The Curse of Peladon" and Azaxyr in "The Monster of Peladon".
- Christopher Coll played Phipps in "The Seeds of Death" and Stubbs in "The Mutants".
- Ronald Leigh-Hunt played Commander Julian Radnor in "The Seeds of Death" and Commander Stevenson in "Revenge of the Cybermen".
- Donald Gee played Major Ian Warne in "The Space Pirates" and Eckersley in "The Monster of Peladon".
- Richard Steele played Commandant Gorton in "The War Games", Sergeant Hart in "Doctor Who and the Silurians", and a Guard in "The Mark of the Rani".
- David Savile played Lieutenant Carstairs in "The War Games", Winser in "The Claws of Axos" and Colonel Charles Crichton in "The Five Doctors".
- Michael Lynch played Spencer in "The War Games" and a Thal politician in "Genesis of the Daleks".
- Tony McEwan played a Redcoat in "The War Games" and Baldwin in "Planet of Evil".
- Graham Weston played Russell in "The War Games" and De Haan in "Planet of Evil".
- David Garfield played Von Weich in "The War Games" and Neeva in "The Face of Evil".
- Leslie Schofield played Leroy in "The War Games" and Calib in "The Face of Evil".
- James Bree played the Security Chief in "The War Games" Nefred in "Full Circle" and the Keeper of the Matrix in "The Ultimate Foe".
- George Lee played Corporal Forbes in "Spearhead from Space" and a farmworker in "The Time Monster".
- John Woodnutt played Hibbert in "Spearhead from Space", the Draconian Emperor in "Frontier in Space", the Duke of Forgill in "Terror of the Zygons" and Seron in "The Keeper of Traken".
- Prentis Hancock played Jimmy in "Spearhead from Space", Vaber in "Planet of the Daleks", Salamar in "Planet of Evil" and the Shrieve captain in "The Ribos Operation".
- Talfryn Thomas played Fred Mullins in "Spearhead from Space" and Dave in "The Green Death".
- Bill Matthews played Davis in "Doctor Who and the Silurians" and a Prison Officer in "The Mind of Evil".
- Dave Carter played a Silurian in "Doctor Who and the Silurians", a Primord in "Inferno" a Museum attendant in "Terror of the Autons", a Prison Officer in "The Mind of Evil" a Roundhead Officer in "The Time Monster", Sergeant Duffy in "Invasion of the Dinosaurs" and Grierson in "The Android Invasion".
- Geoffrey Palmer played Edward Masters in "Doctor Who and the Silurians", the Administrator in "The Mutants" and Captain Hardaker in "Voyage of the Damned".
- Peter Miles played Dr Charles Lawrence in "Doctor Who and the Silurians", Professor Whitaker in "Invasion of the Dinosaurs", and Nyder in "Genesis of the Daleks".
- Ian Talbot played Travis in "Doctor Who and the Silurians" and Klout in "The Leisure Hive".
- Paul Darrow played Captain Hawkins in "Doctor Who and the Silurians" and Maylin Tekker in "Timelash".
- Roy Scammell played a Technician in "The Ambassadors of Death" and an RSF sentry in "Inferno".
- Michael Wisher played John Wakefield in "The Ambassadors of Death", Rex Farrel in "Terror of the Autons", Kalik in "Carnival of Monsters", Davros in "Genesis of the Daleks", Magrik in "Revenge of the Cybermen" and Morelli in "Planet of Evil". He also provided Dalek voices in "Frontier in Space", "Planet of the Daleks" and "Death to the Daleks".
- Max Faulkner played a UNIT soldier in "The Ambassadors of Death", a miner in "The Monster of Peladon", a Guard Captain in "Planet of the Spiders", a Thal Guard in "Genesis of the Daleks", Corporal Adams in "The Android Invasion" and Nesbin in "The Invasion of Time".
- Geoffrey Beevers played played Private Johnson in "The Ambassadors of Death" and the Master in "The Keeper of Traken".
- David Simeon played Private Latimer in "Inferno" and Alastair Fergus in "The Dæmons".
- Christopher Benjamin played Sir Keith Gold in "Inferno", Henry Gordon Jago in "The Talons of Weng-Chiang" and Colonel Hugh in "The Unicorn and the Wasp".
- Hayden Jones voiced the Autons in "Terror of the Autons" and played Lenny Vosper in "The Mind of Evil".
- Terry Walsh played an Auton policeman in "Terror of the Autons", Castle Guard Barclay in "The Sea Devils", as a window cleaner in "The Time Monster" a Guard in "The Green Death", a Warehouse Looter in "Invasion of the Dinosaurs", a Guard Captain in "The Monster of Peladon", the man with the boat in "Planet of the Spiders", Zake in "The Sontaran Experiment", Mensch in "The Power of Kroll and Doran in "The Creature from the Pit".
- Eric Mason played Senior Prison Officer Green in "The Mind of Evil" and CPO Smedley in "The Sea Devils".
- Roy Purcell played Chief Prison Officer Powers in "The Mind of Evil" and the President of the Council in "The Three Doctors".
- William Marlowe played Harry Mailer in "The Mind of Evil" and Lester in "Revenge of the Cybermen".
- Simon Lack played Professor Kettering in "The Mind of Evil" and Zadek in "The Androids of Tara".
- Neil McCarthy played Barnham in "The Mind of Evil" and Thawn in "The Power of Kroll"
- Michael Walker played Harry in "The Claws of Axos" and Miseus in "The Time Monster".
- Tim Piggott-Smith played Captain Harker in "The Claws of Axos" and Marco in "The Masque of Mandragora".
- Norman Atkyns played the Guardian in "Colony in Space" and a Rear Admiral in "The Sea Devils".
- Stanley McGeagh played Allen in Colony in Space and Castle Guard Drew in The Sea Devils.
- Mitzi McKenzie played Mrs Martin in "Colony in Space" and Nancy in "The Green Death".
- Roy Heymann playedan Alien Priest in "Colony in Space" and Gotal in "Death to the Daleks".
- John Baker played Adelphi in "Colony in Space" and Ralph in "The Visitation".
- Christopher Wray played PC Groom in "The Dæmons" and Leading Seaman Lovell in "The Sea Devils".
- Stephen Thorne played Azal in "The Dæmons", Omega in "The Three Doctors", an Ogron in "Frontier in Space" and the male Eldrad in "The Hand of Fear".
- Alec Linstead played Osgood in "The Dæmons", Arnold Jellicoe in "Robot", and Arthur Stengos in "Revelation of the Daleks".
- Scott Fredericks played Boaz in "Day of the Daleks" and Maximillian Stael in "Image of the Fendahl".
- Ysanne Churchman voiced Alpha Centauri in "The Curse of Peladon", "The Monster of Peladon" and "Empress of Mars"; and Lupton's Spider in "Planet of the Spiders".
- Nick Hobbs played Aggedor in "The Curse of Peladon" and "The Monster of Peladon" and Mr Nainby in "Amy's Choice".
- Brian Justice played Wilson in "The Sea Devils" and Yates' Guard in "The Green Death".
- Colin Bell played CPO Summers in "The Sea Devils" and Private Bryson in "Invasion of the Dinosaurs".
- Neil Seiler played a radio operator in "The Sea Devils" and Commander Stewart in "Death to the Daleks".
- Alec Wallis played Bowman in "The Sea Devils" and Warner in "Revenge of the Cybermen".
- Declan Mulholland played Clark in "The Sea Devils" and Till in "The Androids of Tara".
- Edwin Richfield played Captain John Hart in "The Sea Devils" and Mestor in "The Twin Dilemma".
- Martin Taylor played a Skybase Guard in "The Mutants" and Corporal Norton in "Invasion of the Dinosaurs".
- Garrick Hagon played Ky in "The Mutants" and Abraham in "A Town Called Mercy".
- George Cormack played Dalios in "The Time Monster" and as K'anpo in "Planet of the Spiders".
- Melville Jones played a guard in "The Time Monster" and the First Cyberman in "Revenge of the Cybermen".
- Neville Barber played Dr Humphrey Cook in "The Time Monster" and Howard Baker in the one episode of K-9 and Company.
- Ian Collier played Stuart Hyde in "The Time Monster" and Omega in "Arc of Infinity".
- Ingrid Pitt played Galleia in "The Time Monster" and Dr. Solow in "Warriors of the Deep".
- Rex Robinson played Dr Tyler in "The Three Doctors", Gebek in "The Monster of Peladon" and Dr Carter in "The Hand of Fear".
- Timothy Craven played a cell guard in "Frontier in Space", Robinson in "Invasion of the Dinosaurs", and Short in "Robot".
- Louis Mahoney played a Newscaster in "Frontier in Space", Ponti in "Planet of Evil", and the elder Billy Shipton in "Blink".
- Roy Pattison played the Draconian space pilot in "Frontier in Space" and Zazzka in "The Hand of Fear".
- Hilary Minster played Marat (a Thal soldier) in "Planet of the Daleks" and a differnt Thal solider in "Genesis of the Daleks". Since these stories are set hundreds, if not thousands, of years apart, they are certainly different characters.
- Mostyn Evans played Dai Evans in "The Green Death" and the High Priest in "Death to the Daleks".
- The Sontarans, being a clone race, often share actors:
- Kevin Lindsay first played Lynx in "The Time Warrior" (the species' first appearance), then Styre and the Marshal in "The Sontaran Experiment", as well as the non-Sontaran role of Cho Je in "Planet of the Spiders".
- Christopher Ryan, who played Staal in "The Sontaran Stratagem"/"The Poison Sky" and Stark in "The Pandorica Opens", also played Kiv in "Mindwarp".
- Dan Starkey played Skorr in "The Sontaran Stratagem"/"The Poison Sky", Commander Jast in "The End of Time", recurring character Strax of the Paternoster Gang, and an unnamed Sontaran in "The Time of the Doctor". His non-Sontaran roles are a Skullion on The Sarah Jane Adventures and Ian in "Last Christmas".
- David Daker played Irongron in "The Time Warrior" and Captain Rigg in "Nightmare of Eden".
- John Bennett played General Finch in "Invasion of the Dinosaurs" and Li H'sen Chang in "The Talons of Weng-Chiang".
- James Marcus played the a medieval peasant in "Invasion of the Dinosaurs" and Rask in "Underworld".
- Carl Forgione played Land in "Planet of the Spiders" and Nimrod in "Ghost Light".
- Peter Tuddenham voiced the Nerva tannoy in "The Ark in Space", Titan in "The Masque of Mandragora" and Special Voices in "Time and the Rani".
- Peter Walshe played Erak in "The Sontaran Experiment" and a pikeman in "The Masque of Mandragora".
- Brian Ellis played the Prisoner in "The Sontaran Experiment" and a Brother in "The Masque of Mandragora".
- Tom Georgeson played Kavell in "Genesis of the Daleks" and the Detective Inspector in "Logopolis".
- Stephen Yardley played Sevrin in "Genesis of the Daleks" and Arak in "Vengeance on Varos".
- John Gleeson played a Thal soldier in "Genesis of the Daleks" and Charles Winlett in "The Seeds of Doom".
- David Collings played Vorus in "Revenge of the Cybermen", Poul in "The Robots of Death", and Mawdryn in "Mawdryn Undead".
- Brian Grellis played Sheprah in "Revenge of the Cybermen", Safran in "The Invisible Enemy" and the Megaphone Man in "Snakedance".
- '''Hugh Martin played Munro in "Terror of the Zygons" and a priest in "Vengeance on Varos".
- Peter Mayock played Ibrahim Namin in "Pyramids of Mars" and Solis in "The Deadly Assassin".
- Gabriel Woolf voiced Sutekh in "Pyramids of Mars" and, as an Actor Allusion, the Beast in "The Impossible Planet"/"The Satan Pit".
- Michael Spice voiced Morbius in "The Brain of Morbius" and played Magnus Greel in "The Talons of Weng-Chiang".
- Harry Fielder played guards in both "The Seeds of Doom" and "The Armageddon Factor".
- John Cannon played Elgin in "The Hand of Fear" and a Guard in "The Armageddon Factor".
- Angus MacKay played Borusa in "The Deadly Assassin" and the headmaster in "Mawdryn Undead".
- '''Helen Blatch voiced the computer in "The Deadly Assassin" and played Fabian in "The Twin Dilemma".
- Xoanon's voices in "The Face of Evil" were provided by Tom Baker Acting for Two and by most of the Ten Little Murder Victims of the next story ("The Robots of Death"): Rob Edwards, Pamela Salem, Anthony Frieze, Roy Herrick, who were available as they had been rehearsing it at the time.
- Tom Kelly played a guard in "The Face of Evil", a different guard in "The Sun Makers" and a Vardan in "The Invasion of Time".
- Pamela Salem played Toos in "The Robots of Death" and Rachel in "Remembrance of the Daleks".
- Deep Roy played Mr. Sin in "The Talons of Weng-Chiang" and a Posicarian delegate in "Mindwarp".
- John Leeson voiced five different versions of K-9 across three different Whoniverse shows from 1977 onwards, and the operator of the Dalek Battle Computer in "Remembrance of the Daleks". He also played Dugeen in "The Power of Kroll", a story where the K-9 prop couldn't function.
- Geoffrey Hinsliff played Jack Tyler in "Image of the Fendahl" and Fisk in "Nightmare of Eden".
- David Warwick played Kimus in "The Pirate Planet" and a Police Commissioner in "Army of Ghosts".
- Shirin Taylor played Pat in "The Stones of Blood" and a customer in "Dragonfire".
- Tony Osoba played Lan in "Destiny of the Daleks", Kracauer in "Dragonfire" and Duke in "Kill the Moon".
- Eleanor Bron played an art gallery visitor in "City of Death" and Kara in "Revelation of the Daleks".
- Tom Chadbon played Duggan in "City of Death" and Merdeen in "The Mysterious Planet"
- Tim Munro played Ainu in "The Creature from the Pit" and Sigurd in "Terminus".
- Lionel Sansby played one of the Passengers in "Nightmare of Eden" and Krarg in "Shada".
- Clifford Norgate voiced the Nimon in "The Horns of Nimon" and the Generator in "The Leisure Hive".
- James Coombes voiced the Krargs in "The Horns of Nimon" and played Paroli in "Warriors of the Deep".
- Denis Carey played Professor Chronotis in "Shada", the Keeper in "The Keeper of Traken" and the Old Man in "Timelash".
- David Allister played Stimson in "The Leisure Hive" and Bruchner in "Terror of the Vervoids".
- Bill Fraser played General Grugger in "Meglos" and Bill Pollock in the one episode of K-9 and Company.
- Adrian Gibbs played Rysik in "Full Circle", the Watcher in "Logopolis" and a dancer in "Black Orchid".
- Stuart Blake played Zoldaz in "State of Decay", the Commander in "The Five Doctors" and Scibus in "Warriors of the Deep".
- Clinton Greyn played Ivo in "State of Decay" and Stike in "The Two Doctors".
- Arthur Hewlett played Kalmar in "State of Decay" and Kimber in "Terror of the Vervoids".
- Robin Soans played Luvic in "The Keeper of Traken" and the Chronolock Guy in "Face the Raven".
- Jeff Rawle played Plantagenet in "Frontios", and a museum curator on The Sarah Jane Adventures.
- Terry Molloy played Davros in "Resurrection of the Daleks", "Revelation of the Daleks" and "Remembrance of the Daleks"; and Russell in "Attack of the Cybermen"
- Robert Glenister played Salateen in "The Caves of Androzani", and returned as Thomas Edison over 30 years later in "Nikola Tesla's Night of Terror".
- Clive Swift played Jobel in "Revelation of the Daleks" and Mr. Copper in "Voyage of the Damned".
- William Thomas played the undertaker of the Hand of Omega's casket in "Remembrance of the Daleks" and Mr. Cleaver in "Boom Town". He also had a recurring role on Torchwood as Geraint Cooper.
- Yasmin Bannerman played Jabe in "The End of the World" and a police officer in Torchwood's "They Keep Killing Suzie".
- Struan Roger voiced the Face of Boe in "New Earth" and "Gridlock", played Clayton in "The Woman Who Lived" and voiced the Kasaavin in "Spyfall".
- A little girl watching the coronation in "The Idiot's Lantern" reappears in a much larger role as the fairy child in Torchwood's "Small Worlds".
- Jennifer Hennessy played Valerie in "Gridlock" and Bill's foster mother Moira in Series 10.
- Mark Gatiss played Professor Richard Lazarus in "The Lazarus Experiment", Gantok in "The Wedding of River Song" and Captain Archibald Hamish Lethbridge-Stewart in "Twice Upon a Time". He also voiced Space Spitfire pilot "Danny Boy" in "Victory of the Daleks" and "A Good Man Goes to War".
- Vinette Robinson played Abi Lerner in "42" and Rosa Parks in "Rosa".
- Chipo Chung played Chantho in "Utopia" (under heavy makeup) and the Shan Shen fortune teller in "Turn Left".
- Georgia Moffett played Jenny in "The Doctor's Daughter" and voiced Cassie Rice in animated special "Dreamland" (who happens to be a case of Ink-Suit Actor).
- Mark Dexter played Charlotte's father in "Silence in the Library"/"Forest of the Dead" and Charles Babbage in "Spyfall".
- Julian Bleach has played creepy villains in three of the 21st century Whoniverse shows: Davros in Doctor Who, the Ghost Maker in Torchwood's "From Out of the Rain", and the title character of The Sarah Jane Adventures' "The Nightmare Man".
- Suranne Jones played a manifest Mona Lisa in the third season of The Sarah Jane Adventures, before playing Idris (or, rather, the TARDIS stuffed into her body) in "The Doctor's Wife".
- Michael Begley played Mulligan in "The Curse of the Black Spot" and All Ears Allan in "Fugitive of the Judoon".
- Alexander Armstrong voiced Sarah Jane's computer Mr. Smith in The Sarah Jane Adventures and later appeared in person in "The Doctor, the Widow and the Wardrobe" as a pilot.
- David Bradley played the main Shan'Sheeth in "Death of the Doctor" and Solomon the trader in "Dinosaurs on a Spaceship" before taking over as the First Doctor in "Twice Upon a Time". Coincidentally, "Death of the Doctor" includes a momentary clip of the original First Doctor.
- Ravin Ganatra had a small role in Torchwood's "Greeks Bearing Gifts" before playing Hakim Khan in Series 11.
- Anjli Mohindra played Rani Chanda in The Sarah Jane Adventures and the Queen of the Skithra in the Series 12 episode "Nikola Tesla's Night of Terror."
- Ian Gelder voiced the Remnants in "The Ghost Monument" and played Zellin in "Can You Hear Me?"
- Nigel Havers played Nick in the Eighth Doctor audio drama "No More Lives", before playing Sarah Jane's fiancé Peter Dalton in The Sarah Jane Adventures story "The Wedding of Sarah Jane Smith".
- Cyril Nri played the Shopkeeper on The Sarah Jane Adventures and the Chair of the Governors in Class's "The Lost".
- If you include the quasi-official spin-offs it gets really weird: the P.R.O.B.E. series of fanvids stars Liz Shaw, now working for the eponymous supernatural investigators, and features various actors from the series in different roles including former Doctors. In addition to Louise Jameson (Leela) in a regular role as Liz's boss, we have:
- The Zero Imperative features Jon Pertwee, Colin Baker, and Sylvester McCoy as doctors (yes...), Peter Davison as a patient and Sophie Aldred as a PR flak (oh, and Mark Gatiss in his first Whoniverse appearance — he also wrote all four vids). And no, Liz doesn't notice Pertwee's character looks familar.
- The Devil of Winterbourne not only adds Terry (Davros) Malloy and Geoffrey (the Master) Beevers, but has Davison and Gatiss playing different characters!
- Unnatural Selection has another Gatiss character, but apart from that just has Jameson and Beevers reprising their roles.
- Ghosts of Winterbourne is a direct sequel that sees Davison reprising his character from Devil. (Ironically, this is the only one where Gatiss doesn't appear, with an explanation that his character won't leave his cottage until it gets sorted out.)
Lampshadings of the trope:
- In "The Daleks' Master Plan", the Doctor comments he has seen an elderly Englishman seen filing a complaint at a police station before, "at that marketplace in Jaffa." Which he had: in an earlier serial, "The Crusade", the same actor had played an extra in a marketplace in Jaffa.
- A timey-wimey Brick Joke lampshading — in "Battlefield", a character played by Jean Marsh tells the Brigadier, played by Nicholas Courtney, "But when we meet again, I shall kill you." "The Daleks' Master Plan", made in the 60s but set thousands of years later, had a different character played by Jean Marsh (Sara Kingdom) kill a different character played by Nicholas Courtney (Bret Vyon).
- In "The Day of the Doctor", Eleven comes face to face with the museum curator, played by Tom Baker (Four). Eleven takes a long look and says "I never forget a face."Curator: I'm sure you don't. And in years to come you might find yourself revisiting a few, but just...the old favourites, eh?