R
- Walter Randall
- Tonila, The Aztecs (1964)
- El Akir, The Crusade (1965)
- Hyksos, The Daleks' Master Plan (1965), (1966)
- Patrolman, The Invasion (1968)
- Harry Slocum, Inferno (1970)
- Guard Captain, Planet of the Spiders (1974)
- Iain Rattray
- Habris, State of Decay (1980)
- Jeff Rawle
- Plantagenet, Frontios (1984)
- Adrian Rawlins
- Dr. Ryder, "Planet of the Ood" (2008)
- Philip Ray
- Eldred, The Seeds of Death (1969)
- Ian Reddington
- Chief Clown, The Greatest Show in the Galaxy (1988), (1989)
- Hubert Rees
- Chief Engineer, Fury from the Deep (1968)
- Captain Ransom, The War Games (1969)
- John Stevenson, The Seeds of Doom (1976)
- Llewellyn Rees
- The President, The Deadly Assassin (1976)
- Anne Reid
- Nurse Crane, The Curse of Fenric (1989)
- Florence Finnegan (Plasmavore), Smith and Jones (2007)
- Beryl Reid
- Briggs, Earthshock (1982)
- Gordon Reid
- Phillips, Invasion of the Dinosaurs (1974)
- Sheila Reid
- Etta, Vengeance on Varos (1985)
- Christopher Reynalds
- Child, The Mind Robber (1968)
- Ronald Rich
- Gunnar the Giant, The Time Meddler (1965)
- Aubrey Richards
- Professor Parry, The Tomb of the Cybermen (1967)
- Edwin Richfield
- Captain Hart, The Sea Devils (1972)
- Mestor, The Twin Dilemma (1984)
- Shane Rimmer
- Seth Harper, The Gunfighters (1966)
- John Ringham
- Tlotoxl, The Aztecs (1964)
- Josiah Blake, The Smugglers (1966)
- Ashe, Colony in Space (1971)
- Christopher Robbie
- Karkus, The Mind Robber (1968)
- Cyber Leader, Revenge of the Cybermen (1975)
- Michael Robbins
- Richard Mace, The Visitation (1982)
- Eric Roberts
- Bruce/The Master, Doctor Who (1996 film) (1996)
- Ivor Roberts
- Mogran, Genesis of the Daleks (1975)
- Andrew Robertson
- Mr Fibuli, The Pirate Planet (1978)
- Robert Robertson
- Collinson, The Ambassadors of Death (1970)
- Anne Robinson
- Voice of Annie Droid, Bad Wolf (2005), The Parting of the Ways (2005)
- Rex Robinson
- Dr. Tyler, The Three Doctors (1972-1973)
- Gebek, The Monster of Peladon (1974)
- Dr. Carter, The Hand of Fear (1976)
- Struan Rodger
- Voice of Face of Boe, New Earth (2006), Gridlock (2007)
- Ilona Rodgers
- Carol, The Sensorites (1964)
- David Rodigan
- Broken Tooth, The Mysterious Planet (1986)
- Maurice Roëves
- Stotz, The Caves of Androzani (1984)
- John Rolfe
- Captain, The War Machines (1966)
- Sam Becket, The Moonbase (1967)
- Fell, The Green Death (1973)
- Clifford Rose
- Rorvik, Warriors' Gate (1981)
- Ricco Ross
- Ringmaster, The Greatest Show in the Galaxy (1988, 1989)
- George Roubicek
- Captain Hopper, The Tomb of the Cybermen (1967)
- Simon Rouse
- Hindle, Kinda (1982)
- Jo Rowbottom
- Mollie Dawson, The Evil of the Daleks (1967)
- Alan Rowe
- Dr. Evans / Voice from Space Patrol, The Moonbase (1967)
- Edward of Wessex, The Time Warrior (1973–74)
- Skinsale, Horror of Fang Rock (1977)
- Garif, Full Circle (1980)
- Deep Roy
- Mr. Sin, The Talons of Weng-Chiang (1977)
- Alan Ruscoe
- Auton, Rose (2005)
- Claire Rushbrook
- Ida Scott, The Impossible Planet (2006), The Satan Pit (2006)
- Sheila Ruskin
- Kassia, The Keeper of Traken (1981)
- Jenna Russell
- Floor Manager, Bad Wolf (2005), The Parting of the Ways (2005)
- Robert Russell
- Guard, The Power of the Daleks (1966)
- The Caber, Terror of the Zygons (1975)
- William Russell
- Ian Chesterton, An Unearthly Child (1963) - The Chase (1965)
- Christopher Ryan
- Lord Kiv, Mindwarp (1986)
- General Staal, "The Sontaran Strategem"-"The Poison Sky" (2008)
- Michelle Ryan
- Lady Christina de Souza, "Planet of the Dead" (2009)
- Patrick Ryecart
- Crozier, Mindwarp (1986)
Read more about this topic: List Of Doctor Who Cast Members