Sam the Eagle = The First Doctor (William Hartnell)
Rolf = The Second Doctor (Patrick Troughton)
Gonzo = The Third Doctor (Jon Petwee)
Sgt. Floyd Pepper = The Fourth Doctor (Tom Baker)
Scooter = The Firth Doctor (Peter Davidson)
Animal = The Sixth Doctor (Colin Baker)
Bunsen Honeydew = The Seventh Doctor (Sylvester McCoy)
Fozzie Bear = The Eighth Doctor (Paul McGann)
Rizzo the Rat = The Ninth Doctor (Christopher Eccleston)
Beaker = The Tenth Doctor (David Tennant)
Kermit the Frog = The Eleventh Doctor (Matt Smith)
Companions
The Swedish Chef = Brigadier Alastair Gordon Lethbridge-Stewart (Nicholas Courtney)
Annie Sue Pig (I think) = Melanie Bush (Bonnie Langford)
Skeeter = Dorothy Gale "Ace" McShane (Sophie Aldred)
Camilla the Chicken = Sarah Jane Smith (Elisibeth Sladen)
Spamela Hamderson (I think) = Rose Tyler (Billie Piper)
Janice = Romanadvoratnelundar aka Romana (Lalla Ward)
Sweetums = Jamie McCrimmon (Frazer Hines)
Bean Bunny = Adric (Matthew Watterson)
Miss Piggy = River Song (Alex Kingston)
Pepe the King Prawn = Captain Jack Harkness (John Barrowman)
Rolf = The Second Doctor (Patrick Troughton)
Gonzo = The Third Doctor (Jon Petwee)
Sgt. Floyd Pepper = The Fourth Doctor (Tom Baker)
Scooter = The Firth Doctor (Peter Davidson)
Animal = The Sixth Doctor (Colin Baker)
Bunsen Honeydew = The Seventh Doctor (Sylvester McCoy)
Fozzie Bear = The Eighth Doctor (Paul McGann)
Rizzo the Rat = The Ninth Doctor (Christopher Eccleston)
Beaker = The Tenth Doctor (David Tennant)
Kermit the Frog = The Eleventh Doctor (Matt Smith)
Companions
The Swedish Chef = Brigadier Alastair Gordon Lethbridge-Stewart (Nicholas Courtney)
Annie Sue Pig (I think) = Melanie Bush (Bonnie Langford)
Skeeter = Dorothy Gale "Ace" McShane (Sophie Aldred)
Camilla the Chicken = Sarah Jane Smith (Elisibeth Sladen)
Spamela Hamderson (I think) = Rose Tyler (Billie Piper)
Janice = Romanadvoratnelundar aka Romana (Lalla Ward)
Sweetums = Jamie McCrimmon (Frazer Hines)
Bean Bunny = Adric (Matthew Watterson)
Miss Piggy = River Song (Alex Kingston)
Pepe the King Prawn = Captain Jack Harkness (John Barrowman)