The Time Lord will reunite with his one-time companion Sarah Jane Smith, played by Elisabeth Sladen, for a two-episode stint in the upcoming third series of the kids spinoff.
"Viewers thought they may have to wait until November for the next full episode of Doctor Who, but this is an extra special treat," said Russell T Davies, executive producer on The Sarah Jane Adventures. "And it's not just a cameo from David - this is a full on appearance for The Doctor as he and Sarah Jane face their biggest threat ever."
Sladen added: "When I heard the news that David was going to be joining us I was absolutely over the moon. Not only has it made my day but it will also make the viewers' day. It's fantastic news that Sarah Jane is going to spend some time working with The Doctor again and is testament to just how successful this CBBC series is."
The 12-episode series, airing on CBBC in the Autumn, also features new reptilian race The Veil and enemies The Judoon, as well as an alien girl with the ability to make people play games against their will.
As previously reported, robotic companion K-9 will also return for the new series.
Tennant's stint - in episodes five and six - will come before his final three episodes playing the Doctor in the parent show.