A new six-part series called Tales of the TARDIS has been released on iPlayer alongside the Doctor Who archive.
In the show, which has been made to mark the sci-fi show's 60th anniversary, former Doctors and companions take a look back at their time in the TARDIS and appear in brand new scenes.
Each episode features a different pairing, including Maureen O'Brien and Peter Purves, Frazer Hines and Wendy Padbury, Katy Manning and Daniel Anthony, Peter Davison and Janet Fielding, Colin Baker and Nicola Bryant, and Sylvester McCoy and Sophie Aldred.
The BBC has also announced that the new Who archive on iPlayer, which is home to more than 800 episodes of the show and its spinoffs, will be officially known as The Whoniverse.
"The word Whoniverse was invented by fans, so it's time to give it official status," said showrunner Russell T Davies. "And Tales of the TARDIS is one of the greatest delights of my career - to see old Doctors and companions reunited, still fighting the good fight, is a perfect way to celebrate the Doctor's 60th birthday!"
Dan McGolpin, director of iPlayer, added: "I'm delighted to welcome Tales of the TARDIS exclusively to BBC iPlayer, the home of Doctor Who, which is consistently one of our most popular programmes every single week of the year.
"Tales of the TARDIS will sit within The Whoniverse and features brand new and incredibly moving scenes with well-loved characters; it will be a fantastic starting point for a new generation to discover some of the most classic episodes and a joyous way for longstanding fans to catch up with old friends."
The Whoniverse went live on iPlayer on Thursday.