Agyeman discusses 'Torchwood' and Kylie

Freema Agyeman has spoken of her joy at joining the Torchwood cast for several episodes, as well as meeting Kylie Minogue

The actress told Metro that she has finished filming her stint on the Doctor Who spin-off and that "it's part of the same family, but you've got the mad John Barrowman who's on board, so it was a really good experience".

Agyeman will return to Doctor Who as companion Martha Jones and join Catherine Tate alongside David Tennant in the Tardis. Despite not appearing in the upcoming Christmas Special 'The Voyage of the Damned', she has since encountered the guest star Kylie Minogue.

"I met her and she's adorable and so sweet and just really approachable and she had a really good time and everybody thought she was amazing," she enthused.