The Scottish actor, who played the tenth incarnation of the titular character, stated on Paul O'Grady Live that he was perfectly satisfied with the timing of his departure from the show.
"I wouldn't say I miss it. I mean I had a brilliant, brilliant time. It's the most fun you can ever have and call it work, but I had a really good go so I think it was probably time to move on and now I like being able to tune in and watch it back and not know what's happening next."
Tennant also praised former co-star Billie Piper, and appeared flattered to hear that she had described him as a better kisser than current Doctor Matt Smith.
"Well, she's just brilliant, she’s just great," he gushed. "I shan't disabuse you of that fact [that I'm a better kisser]. Not that I've ever kissed Matt Smith, I'd like to point that out now. And not that I wouldn't like to."
After discovering that she had given him the nickname 'David Ten-inch', Tennant spoke of his favourite scene involving Piper's character Rose Tyler.
"The one everyone usually talks about is the scene on the beach [in series two finale 'Doomsday'] where we finally say bye-bye. It was the end of my first year and Billie had been such a huge part of that. It was a brilliantly sad scene and it was very sad to play."
Tennant recently praised his successor Matt Smith, saying that he "loved every second" of his performance in the latest series.