According to Spotlight, the actress will appear in the seventh and final instalment of the show's sixth run.
Written by showrunner Steven Moffat, the episode will serve as the first half of a two-part adventure, which will conclude when the sci-fi drama returns to BBC One later in 2011.
Writing on Twitter, Cleare confirmed that she and her actor son Henry will both play minor roles on the show.
"2011 off to slow start but things picking up now," she wrote. "Henry & I got small parts in Doctor Who!"
Cleare is known mainly for her theatre work, but has also appeared in documentary-style television projects such as 2006's JFK Revealed and the following year's BBC Timewatch: The Real Atlantis.
The sixth series of Doctor Who is expected to launch on BBC One in the spring.