D
- David Daker
- Irongron, The Time Warrior (1973–1974)
- Captain Rigg, Nightmare of Eden (1979)
- Timothy Dalton
- Lord President Rassilon, The End of Time (2009–2010)
- Suzanne Danielle
- Agella, Destiny of the Daleks (1979)
- Lisa Daniely
- Madeleine Issigri, The Space Pirates (1969)
- Paul Darrow
- Captain Hawkins, Doctor Who and the Silurians (1970)
- Tekker, Timelash (1985)
- Stephen Dartnell
- Yartek, Leader of the alien Voord, The Keys of Marinus (1964)
- John, The Sensorites (1964)
- Claire Davenport
- Empress, Marco Polo (1964)
- Alan David
- Gabriel Sneed, "The Unquiet Dead" (2005)
- Gareth David-Lloyd
- Ianto Jones, "The Stolen Earth"-"Journey's End" (2008)
- Ann Davies
- Jenny, The Dalek Invasion of Earth (1964)
- Rachel Davies
- Camilla, State of Decay (1980)
- Richard Davies
- Burton, Delta and the Bannermen (1987)
- Windsor Davies
- Toby, The Evil of the Daleks (1967)
- Phil Davis
- Lucius Petrus Dextrus, "The Fires of Pompeii" (2008)
- Peter Davison
- The Doctor, Logopolis (1981) - The Caves of Androzani (1984), "Time Crash" (2007)
- Pamela Ann Davy
- Janley, The Power of the Daleks (1966)
- Terence De Marney
- Churchwarden, The Smugglers (1966)
- Gregory de Polnay
- D.84, The Robots of Death (1977)
- Edward de Souza
- Marc Corey, Mission to the Unknown (1965)
- Francis de Wolff
- Vasor, The Keys of Marinus (1964)
- Agamemnon, The Myth Makers (1965)
- Eric Deacon
- Mykros, Timelash (1985)
- Derek Deadman
- Stor, The Invasion of Time (1978)
- Roger Delgado
- The Master, Terror of the Autons - The Dæmons (1971), The Sea Devils, The Time Monster (1972), Frontier in Space (1973)
- Maurice Denham
- Edgeworth / Azmael, The Twin Dilemma (1984)
- Peter Diamond
- Delos, The Romans (1965)
- Morok Technician, The Space Museum (1965)
- Sailor, The Highlanders (1967)
- Davis, The Ice Warriors (1967)
- Anton Diffring
- De Flores, Silver Nemesis (1988)
- Shaun Dingwall
- Supporting Character Pete Tyler, "Father's Day" (2005), "Rise of the Cybermen" - "The Age of Steel", "Doomsday" (2006)
- Vernon Dobtcheff
- Chief Scientist, The War Games (1969)
- Ken Dodd
- The Tollmaster, Delta and the Bannermen (1987)
- Eric Dodson
- Headman, The Visitation (1982)
- Edna Doré
- Maeve, "Fear Her" (2006)
- Angela Douglas
- Doris, Battlefield (1989)
- Colin Douglas
- Donald Bruce, The Enemy of the World (1968)
- Reuben, Horror of Fang Rock (1977)
- Donald Douglas
- Vural, The Sontaran Experiment (1975)
- Keith Drinkel
- Flight engineer Scobie, Time-Flight (1982)
- Kathryn Drysdale
- Bliss, "Love & Monsters" (2006)
- Sharon Duce
- Control, Ghost Light (1989)
- Tommy Duggan
- Senator Alcott, The Mind of Evil (1971)
- Lindsay Duncan
- Adelaide Brooke, "The Waters of Mars" (2009)
- Lesley Dunlop
- Norna, Frontios (1984)
- Susan Q, The Happiness Patrol (1988)
- Sheila Dunn
- Blossom Lefavre, The Daleks' Master Plan (1965)
- Telephone Operator, The Invasion (1968)
- Petra Williams, Inferno (1970)
- Leslie Dwyer
- Vorg, Carnival of Monsters (1973)
- Valentine Dyall
- The Black Guardian, The Armageddon Factor (1979), Mawdryn Undead - Enlightenment (1983)
- Hamilton Dyce
- Major General Scobie, Spearhead from Space (1970)
- William Dysart
- Alexander, The Highlanders (1967)
- Reegan, The Ambassadors of Death (1970)
Read more about this topic: List Of Doctor Who Cast Members