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The character, played by Billie Piper, took first place in the list compiled by the Radio Times.
Former companions Sarah Jane Smith (Elisabeth Sladen) and Donna Noble (Catherine Tate) came second and third respectively. Current series lead Amy Pond (Karen Gillan) managed fifth place, narrowly beaten by robotic dog K-9.
Other characters to make the top ten included Torchwood lead Captain Jack Harkness (John Barrowman) and Jo Grant (Katy Manning), who recently made a return appearance on The Sarah Jane Adventures.
Over 3,000 Doctor Who fans voted in the online poll.
The sci-fi drama will return to BBC One this Christmas for a one-off special, titled 'A Christmas Carol'.
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