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.)

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.)

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.)

Peri Brown

The first historic spell you cast each turn has convoke. (Your creatures can help cast it. Each creature you tap while casting it pays for {1} or one mana of that creature's color.)
Doctor's companion (You can have two commanders if the other is the Doctor.)

Graham O'Brien

Paradox — Whenever you cast a spell from anywhere other than your hand, create a Food token. (It's an artifact with "{2}, {T}, Sacrifice this artifact: You gain 3 life.")
Doctor's companion (You can have two commanders if the other is the Doctor.)

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 artifact: Draw a card.")
Doctor's companion (You can have two commanders if the other is the Doctor.)