An edited version of the event will air on BBC Three on September 6. The hour-long programme will begin at 8.30pm.
The channel will also screen the documentary special Doctor Who's Greatest Moments and a repeat of fifth series finale 'The Big Bang' in the lead up to the Prom.
The event originally took place on July 24 and was previously broadcast on BBC Radio 3. It was hosted by series stars Matt Smith, Karen Gillan and Arthur Darvill.
Doctor Who will return with a one-off special this Christmas. A full sixth series will follow in early 2011.