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There has never been a crossover in the television series.

However, in the BBC Past Doctor Adventures novel Corpse Marker, the Blake's 7 character Carnell appears. This novel was written by Chris Boucher, who was Script Editor for Blake's 7, and published by the BBC.

Boucher later worked on the Kaldor City Audios, which featured characters and concepts from both Doctor Who and Blake's 7.