The actor departed the BBC sci-fi drama last year, but told Digital Spy that he would be open to making a cameo in a special 50th anniversary episode.
© BBC
Arthur Darvill with Matt Smith and Karen Gillan in Doctor Who
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"I'm so busy at the moment that I don't know if I'd be able to," said Darvill, who will appear opposite fellow Who veteran David Tennant in ITV's new crime drama Broadchurch.
"But I'm very loyal to Doctor Who - I saw Steven Moffat recently and I think he's brilliant. He's one of those people that if he ever asked me to do anything, I'd do it."
© ITV
Arthur Darvill in Broadchurch
Darvill also revealed that he had watched and enjoyed Doctor Who's 2012 Christmas special - the first episode to air following his character Rory's departure.
"Yes, I did see that - I thought it was great," he admitted. "The show's constantly growing - it's quite nice watching it and not knowing what's going to happen!"
Broadchurch begins on Monday, March 4 at 9pm on ITV.
> Arthur Darvill Broadchurch Q&A: 'I have great scenes with David Tennant'
Watch the trailer for Broadchurch below:
