Sexy scenes with Doctor Who actresses and sexiest companions

Doctor Who is a long-running British sci-fi TV series about the Doctor, an alien Time Lord from Gallifrey who travels through time and space in the TARDIS—a ship disguised as a blue police box—accompanied by human companions. They battle villains like Daleks, Cybermen, and the Master while solving cosmic crises across history and the universe.

Contents

1 Tickling scenes in Doctor Who
2 Alex Kingston (“Croupier”)
3 Billie Piper (“Penny Dreadful”)
4 Camille Coduri (“King Ralph”)
5 Freema Agyeman (“Sense8”)
6 Jodie Whittaker (“Venus”)
7 Jenna Coleman (“Room At The Top”)
8 Katy Manning (“Girl Illustrated”)
9 Karen Gillan (“Not Another Happy Ending”)
10 MyAnna Burning (“City Rats”)
11 Nicola Bryant (“Parting Shots”)
12 Informazioni sull'autore
- - 12.0.1 admin

Tickling scenes in Doctor Who

The show is generally family-friendly (TV-PG rated) with minimal sensuality, focusing on adventure over romance. Occasional implied kisses or flirtations occur (e.g., Doctor-companion tension), but there are no explicit nude, sexual, or erotic scenes—nudity is absent across classic (1963–1989) and revived eras (2005–present).

Doctor Who - Daft Dimension. — Doctor Who – Daft Dimension.

Doctor Who - Shark Bait — Doctor Who – Daft Dimension.

There is a brief, comedic tickling scene involving Missy and a Dalek in Doctor Who Series 9, Episode 2: “The Witch’s Familiar” (2015). While in the Dalek City on Skaro, Missy casually tickles a Dalek’s eyestalk (colloquially called its “balls” by fans) as mentions “the unnomables of dogs”.

Although there are almost no scenes of female nudity in the television series Doctor Who, many of its actresses have played memorable characters in sensual scenes in other films and television series.

Alex Kingston (“Croupier”)

Alex Kingston played River Song, an enigmatic archaeologist and recurring companion in Doctor Who (2008–2013), known for her complex, time-traveling romance with the Eleventh Doctor and her fierce, witty independence across multiple eras.

River Song nude - Day of the Moon — Ep. “Day ot he Moon”

The film “Croupier” (1998) features graphic sexual situations, including depicted fornication and a notable bedroom sequence with upper male nudity, upper female nudity, and full female nudity involving Alex Kingston (as Jani de Villiers)

Billie Piper (“Penny Dreadful”)

Billie Piper portrayed Rose Tyler, the Doctor’s first major companion in the revived Doctor Who (2005–2006, 2010), a working-class Londoner who becomes the Tenth Doctor’s devoted partner in adventures, marking the show’s modern reboot.

Penny Dreadful (2014–2016) features nudity scenes with Billie Piper as Brona Croft (later the Bride of Frankenstein). Piper appears topless in the first episode during a photoshoot sequence, showing her breasts (with a body double used for certain lower-body shots). She has further nude moments across episodes like S01E01–03 and S02E01/E05, including bare breasts, buttocks, and partial bush in contexts tied to her character’s tragic, sensual storyline involving sex and transformation. These serve the show’s gothic horror tone, blending eroticism with Brona’s consumption-ravaged vulnerability and relationships, such as with Victor Frankenstein.

Camille Coduri (“King Ralph”)

Camille Coduri played Jackie Tyler, Rose Tyler’s feisty, overprotective mother in Doctor Who (2005–2010), providing comic relief and emotional grounding as a single mum navigating alien invasions and her daughter’s travels with the Doctor.

In the 1991 comedy film King Ralph, the topless scene occurs early in Ralph’s time as the newly crowned king. After sneaking out of Buckingham Palace for a night on the town, the American lounge singer-turned-monarch (played by John Goodman) visits a London strip club. There, he encounters Miranda Greene (Camille Coduri), a stripper and aspiring fashion designer, during her performance, which features brief topless nudity as part of the club’s entertainment.

Miranda briefly exposes her breasts while dancing on stage, with no prolonged focus or explicit action. The moment serves comedy rather than titillation, amid sexual innuendos throughout the film.

Freema Agyeman (“Sense8”)

Freema Agyeman portrayed Martha Jones, a brilliant medical student and companion to the Tenth Doctor in Doctor Who (2007–2010), stepping up during crises like the Master’s reign, known for her intelligence, resilience, and unrequited love for the Doctor.

Freema Agyeman plays Amanita “Neets” Caplan in the Netflix series Sense8 (2015–2018). She portrays the loyal, tech-savvy girlfriend (and later wife) of Nomi Marks, a transgender hacktivist and one of the eight psychically linked “sensates. Agyeman described the character as embodying confidence, joie de vivre, and authentic queer representation.

Jodie Whittaker (“Venus”)

Jodie Whittaker starred as the Thirteenth Doctor, the first female incarnation in Doctor Who (2017–2022), a compassionate yet determined Time Lord leading a new TARDIS team through cosmic threats with optimism and ingenuity.

Jodie Whittaker plays Jessie, the bold and street-smart grandniece of Ian (Leslie Phillips), in the 2006 British comedy-drama Venus. As a young woman arriving in London seeking opportunity, she disrupts the lives of two aging actor friends, Maurice (Peter O’Toole) and Ian, sparking a quirky, poignant bond with Maurice.

Whittaker’s debut performance earned critical acclaim and BIFA/Satellite Award nominations for portraying Jessie’s mix of vulnerability, bravado, and growth amid an unlikely May-December friendship laced with humor and tension. Reviewers praised her natural chemistry with O’Toole, matching his charisma without being overshadowed.

Jenna Coleman (“Room At The Top”)

Jenna Coleman played Clara Oswald, the resourceful history teacher and “impossible girl” who became a key companion to the Eleventh and Twelfth Doctors in Doctor Who (2012–2015), repeatedly saving the Doctor across timelines with her cleverness and bravery.

Clara Oswald nude Doctor Who — Doctor Who The Twelfth Doctor #2.2

Doctor Who The Twelfth Doctor #2.2 2 — Doctor Who The Twelfth Doctor #2.2

Jenna Coleman plays Susan Brown in the 2012 BBC TV adaptation of Room at the Top. She portrays the naive, upper-class daughter of a wealthy industrialist whom the ambitious protagonist Joe Lampton (Matthew McNulty) pursues for social climbing. Susan’s character represents innocence and privilege in post-war Yorkshire, drawing Joe into a romantic entanglement complicated by his affair with older woman Alice (Maxine Peake). Coleman has described the role as career-changing, crediting director Aisling Walsh for fostering a liberating on-set environment.

Katy Manning (“Girl Illustrated”)

Katy Manning portrayed Jo Grant, a plucky secretary-turned-companion to the Third Doctor in Doctor Who (1971–1973), often providing comic relief and heart amid UNIT missions against aliens like the Daleks and Cybermen.

Katy Manning posed nude for the glamour magazine Girl Illustrated in 1978. The photoshoot, featuring her with a Dalek prop, sparked significant controversy at the time.

Karen Gillan (“Not Another Happy Ending”)

Karen Gillan played Amy Pond, the feisty Scottish kissogram and wife of Rory Williams, serving as a companion to the Eleventh Doctor in Doctor Who (2010–2012), central to arcs involving cracks in time and her “girl who waited” destiny.

In the 2013 romantic comedy Not Another Happy Ending, the nude scene features Karen Gillan as Jane Lockhart, a writer struggling with creative block. Following her agent’s advice to emulate a famous author who wrote naked, Jane strips down at home while baking to spark inspiration.

The moment turns comedic when Jane’s smoke alarm blares from an overcooked dish in the oven. She dashes naked to handle it, only for her publisher Tom (Stanley Weber) to unexpectedly enter her apartment amid the chaos.

Visibility is partial and brief for comedic effect—viewers see her bare buttocks as she runs and sideboob, but frontal nudity is obscured by Tom’s arm blocking her lower body and a tray covering her chest when she faces him. Karen Gillan performed the scene herself on a closed set, later noting initial nerves gave way to comfort

MyAnna Burning (“City Rats”)

MyAnna Buring (played Scooti Manista in the Doctor Who television story The Impossible Planet) plays Sammy in the 2009 British drama City Rats.

She portrays a troubled young woman entangled in the film’s interconnected tales of urban despair, addiction, and fleeting relationships among London’s underbelly characters

Nicola Bryant (“Parting Shots”)

Nicola Bryant played Peri Brown (Periperal) in Doctor Who (1984–1986), an American botany student who joins the Sixth Doctor as a companion, enduring turbulent adventures and clashes with his abrasive personality before departing Earth.

Nicola Bryant appears in the 1998 British comedy-thriller Parting Shots. She portrays Beverley, a minor character described as a sexy, underwear-clad prostitute in a brief role.