Nardole, Resourceful Cyborg

{T}: Add {U} for each counter on Nardole. Spend this mana only to cast noncreature spells.
Undying (When this creature dies, if it had no +1/+1 counters on it, return it to the battlefield under its owner's control with a +1/+1 counter on it.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

The First Doctor

When The First Doctor enters, search your library and/or graveyard for a card named TARDIS, reveal it, and put it into your hand. If you search your library this way, shuffle.
Whenever you cast a spell with cascade, put a +1/+1 counter on target artifact or creature.

The Eleventh Doctor

I. AM. TALKING! — Whenever The Eleventh Doctor deals combat damage to a player, you may exile a card from your hand with a number of time counters on it equal to its mana value. If it doesn't have suspend, it gains suspend.
{2}: Target creature with power 3 or less can't be blocked this turn.

Ace, Fearless Rebel

Nitro-9 — Whenever Ace, Fearless Rebel attacks, you may sacrifice an artifact. When you do, put a +1/+1 counter on Ace, Fearless Rebel, then it fights up to one target creature defending player controls.
Doctor's companion (You can have two commanders if the other is the Doctor.)

Bill Potts

Whenever you cast an instant or sorcery spell that targets only Bill Potts or activate an ability that targets only Bill Potts, copy that spell or ability. You may choose new targets for the copy. This ability triggers only once each turn.
Doctor's companion (You can have two commanders if the other is the Doctor.)

Dan Lewis

Noncreature, non-Equipment artifacts you control are Equipment in addition to their other types and have "Equipped creature gets +1/+0" and equip {1}.
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Master, Mesmerist

{T}: Target creature an opponent controls with power less than or equal to The Master's power gains skulk until end of turn. Goad it. (A creature with skulk can't be blocked by creatures with greater power.)
Whenever a creature with skulk deals combat damage to one of your opponents, put a +1/+1 counter on The Master and draw a card.

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.)

K-9, Mark I

Negative — As long as K-9, Mark I is untapped, other legendary creatures you control have ward {1}.
Affirmative — {1}{U}, {T}: Target legendary creature can't be blocked this turn.
Doctor's companion (You can have two commanders if the other is the Doctor.)

Amy Pond

Partner with Rory Williams (When this creature enters, target player may put Rory into their hand from their library, then shuffle.)
Whenever Amy Pond deals combat damage to a player, choose a suspended card you own and remove that many time counters from it.
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Seventh Doctor

Whenever The Seventh Doctor attacks, choose a card in your hand. Defending player guesses whether that card's mana value is greater than the number of artifacts you control. If they guessed wrong, you may cast it without paying its mana cost. If you don't cast a spell this way, investigate. (Create a Clue token. It's an artifact with "{2}, Sacrifice this artifact: Draw a card.")

Leela, Sevateem Warrior

Whenever an opponent draws a card except the first one they draw in each of their draw steps, put a +1/+1 counter on Leela, Sevateem Warrior.
Doctor's companion (You can have two commanders if the other is the Doctor.)