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There have been many Children in Need specials, prequels, and other short Doctor Who stories that would contest this prize, but ignoring them and focusing on 'normal' episodes...

The shortest episode is Part Five of "The Mind Robber" at 18 minutes, but the shortest story is one-part missing Dalek drama "Mission to the Unknown" - approximately 25 minutes long.

The shortest 'minisode' is Part Two of "Space"/"Time" at two minutes and 54 seconds.