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Speaking exclusively to Digital Spy, the 43-year-old, who plays Joshua Naismith in the forthcoming Christmas Special, also revealed that he wasn't allowed to read the script containing Tennant's final scene.
Describing the atmosphere on set as Tennant prepared to leave, Harewood said: "I'd say it was very charged - people were in tears. It was the end of a very successful partnership.
"It was obviously David's last outing, and it was also Russell's last outing and Judy Gardner's last outing. So everyone was saying goodbye to what had been a very successful partnership."
Asked about Tennant's final scene as the tenth Doctor, he added: "We only got four pages, so most of us didn't get to see. I think we'll all be checking in on Christmas Day!"
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