Jo Grant

Each historic card in your hand has cycling {2}{W}. ({2}{W}, Discard that card: Draw a card.)
Whenever you cycle a card, put a +1/+1 counter on Jo Grant.
Doctor's companion (You can have two commanders if the other is the Doctor.)

Sarah Jane Smith

Whenever you cast a historic spell, investigate. This ability triggers only once each turn. (Artifacts, legendaries, and Sagas are historic. To investigate, create a Clue token. It's an artifact with "{2}, Sacrifice this artifact: Draw a card.")
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Fourth Doctor

You may look at the top card of your library any time.
Would You Like A...? — Once each turn, you may play a historic land or cast a historic spell from the top of your library. When you do, create a Food token. (Artifacts, legendaries, and Sagas are historic.)

Jamie McCrimmon

Trample
Whenever you cast a historic spell, Jamie McCrimmon gets +X/+X until end of turn, where X is that spell's mana value. (Artifacts, legendaries, and Sagas are historic.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Graham O'Brien

Paradox — Whenever you cast a spell from anywhere other than your hand, create a Food token. (It's an artifact with "{2}, {T}, Sacrifice this artifact: You gain 3 life.")
Doctor's companion (You can have two commanders if the other is the Doctor.)

Clara Oswald

Impossible Girl — If Clara Oswald is your commander, choose a color before the game begins. Clara Oswald is the chosen color.
If a triggered ability of a Doctor you control triggers, that ability triggers an additional time.
Doctor's companion (You can have two commanders if the other is the Doctor.)

Peri Brown

The first historic spell you cast each turn has convoke. (Your creatures can help cast it. Each creature you tap while casting it pays for {1} or one mana of that creature's color.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Tegan Jovanka

Brave Heart — Whenever you attack, target attacking historic creature gets +1/+1 and gains indestructible until end of turn. (Artifacts, legendaries, and Sagas are historic.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Ian Chesterton

Science Teacher — Each Saga spell you cast has replicate. The replicate cost is equal to its mana cost. (When you cast that Saga, copy it for each time you paid its replicate cost. Copies of Saga spells become tokens.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Barbara Wright

History Teacher — Sagas you control have read ahead. (As a Saga enters, choose a chapter and start with that many lore counters. Skipped chapters don't trigger.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Alistair, the Brigadier

Whenever you cast a historic spell, create a 1/1 white Soldier creature token. (Artifacts, legendaries, and Sagas are historic.)
Whenever Alistair attacks, you may pay {8}. If you do, creatures you control get +X/+X until end of turn, where X is the number of historic permanents you control.