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In no particular order:

Elizabeth I (several mentions & appeared briefly in "The Shakespeare Code");
Elizabeth II (he had tea with her, according to Elizabeth X, "Liz Ten");
Elizabeth X ("The Beast Below");
Victoria ("Tooth and Claw");
Richard I, "the Lionheart" ("The Crusade");
Athelstan (mentioned in "Planet of the Dead");
Charles II ("The Impossible Astronaut", opening sequence);
Henry VIII ("The Power of Three");
an android (Kamelion) impersonating John but not the real King John ("The King's Demons");
Henry XII (mentioned in "The Beast Below").

These are from TV stories. He has met others in non-TV stories.