"We've had a brilliant time," the showrunner told BBC News. "If you were in the Royal Albert Hall, you would have had a unique Doctor Who experience."
A pre-recorded scene featuring David Tennant as The Doctor was shown to the 6,000-strong crowd, while Martha Jones actress Freema Agyeman provided links to pieces of music from the show.
An array of monsters also arrived on stage, with Julian Bleach reprising his acclaimed turn as Davros.
"It's fantastic because people queued in the heat and came a long way," added Davies. "I met someone who came here from Belgium."
> Click here for Cult Spy's Doctor Who Season Four Awards