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Donna Noble was, in the first ever Game of Rassilon live show, a companion of the Tenth Doctor.

Companions of the Doctor
Our Doctor Gunther (cat)MillieTravisRomanCarrie
Previous Doctors AdricGuntherRomana
Live Show Companions
(Listed in order of appearance)
Jack HarknessDonna NobleK9River SongPeriAmy PondNardoleTurloughRory WilliamsMandy's Dad, EddieKing James I / MissyThe War IanThe War TeganThe War Craig & The Oncoming Stormageddon