| Time | Actor |
| 23 November 1963 – 29 October 1966 | |
| 29 October 1966 – 21 June 1969 | |
| 23 November 1963 – 29 October 1966 | |
| 8 June 1974 – 21 March 1981 | |
| 21 March 1981 – 16 March 1984 | |
| 16 March 1984 – 6 December 1986 | |
| 7 September 1987 – 6 December 1989 | |
| 27 May 1996 | |
| 26 March 2005 – 18 June 2005 | |
| 18 June 2005 – 1 January 2010 | |
| (Eleventh Doctor) 1 January 2010–Present | |