The Eighth Doctor

When The Eighth Doctor enters, mill three cards.
Once during each of your turns, you may play a historic land or cast a historic permanent spell from your graveyard. If you do, it gains "If this permanent would leave the battlefield, exile it instead of putting it anywhere else."

Sarah Jane Smith

Whenever you cast a historic spell, investigate. This ability triggers only once each turn. (Artifacts, legendaries, and Sagas are historic. To investigate, create a Clue token. It's an artifact with "{2}, Sacrifice this token: Draw a card.")
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Fourth Doctor

You may look at the top card of your library any time.
Would You Like A...? — Once each turn, you may play a historic land or cast a historic spell from the top of your library. When you do, create a Food token. (Artifacts, legendaries, and Sagas are historic.)

Tegan Jovanka

Brave Heart — Whenever you attack, target attacking historic creature gets +1/+1 and gains indestructible until end of turn. (Artifacts, legendaries, and Sagas are historic.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Jamie McCrimmon

Trample
Whenever you cast a historic spell, Jamie McCrimmon gets +X/+X until end of turn, where X is that spell's mana value. (Artifacts, legendaries, and Sagas are historic.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Sixth Doctor

Time Lord's Prerogative — Whenever you cast a historic spell, copy it, except the copy isn't legendary. This ability triggers only once each turn. (Artifacts, legendaries, and Sagas are historic. A copy of a permanent spell becomes a token.)