The Hustle actor featured in 1984 adventure 'The Caves of Androzani' starring Peter Davison.
"I probably shouldn't say this, but about 30 years ago I played an android in a Doctor Who story," Glenister told the Radio Times.
"I still get people outside the stage door with that picture of me looking about 12 and I am appalled at myself every time I see it. I looked like a complete berk and wish I never had to see it again."
Airing from March 8 to 16 in 1984, 'The Caves of Androzani' marked Peter Davison's final appearance as the fifth Doctor.
The latest series of Doctor Who - starring Matt Smith as the Time Lord - is currently shooting on location in New York.
Smith recently said that the New York-set episode - which will write out companions Amy (Karen Gillan) and Rory (Arthur Darvill) - "could be incredible".
Doctor Who will return to BBC One in the autumn.
> Doctor Who to welcome back previous character?
Watch a clip from Doctor Who 'The Caves of Androzani' below: