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Here is a notable selection:

  • Romanadvoratrelundar, aka Romana, traveled with the Fourth Doctor in her first and second incarnations, and later became president of the Time Lords
  • The Master, another renegade Time Lord and a long-time enemy of the Doctor.
  • Susan Foreman, the Doctor's granddaughter, who travelled with him in his first incarnation (never said on screen, but it can be inferred)
  • Rassilon, one of the founders of time lord society

There's also the Monk, the Rani, the War Chief, the Corsair, Borusa, Omega, Morbius, K'anpo Rimpoche, Andred, Spandrell, Goth, and Flavia.