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In "Planet of Fire" the Doctor killed Kamelion, the shape-shifting robot who had been introduced in "The King's Demons" (but had never been seen since).

_____________________________________________________________________________________________Probrably donna's mind erasure was the death of that Donna

True, but it was done only to allow a Donna to go on living. If the Doctor hadn't erased her memories, there would soon have been no Donna at all.

It's also arguable that the Doctor killed the older Amy, in "The Girl Who Waited", in order to let the younger Amy live a different and (he hopes) better life.