Ncuti Gatwa rocks a moustache and long brown coat as the Doctor in the first images of him and Millie Gibson, who plays the Doctor's companion.
Ncuti is shown in pictures and video released by the BBC wearing brown check trousers and a matching coat with bright orange top underneath, while Millie is dressed in dark blue shorts, a short denim jacket and black boots.
Millie was announced as the latest Doctor Who companion when she stepped out of the Tardis live on Children In Need.
The Coronation Street actress will star opposite Sex Education star Ncuti, who takes over as the Doctor in 2023.
The 15th Doctor’s companion, who will be called Ruby Sunday, will travel alongside him as they embark on a new set of adventures.
The BBC said Doctor Who will return in November 2023 with three special episodes to coincide with the 60th anniversary – with David Tennant as the 14th Doctor.
Ncuti, will then take control of the Tardis, with his first episode airing over the festive period in 2023.
Earlier this month, David appeared on This Morning, where he remained tight-lipped about the upcoming storylines, but did share details of his experience returning to the role.
He described returning to the character of the Doctor as ‘like being handed a very lovely present’.
He told Holly Willoughby and PhillipSchofield: “It was joyous. It was great fun. It was a very happy, joyous time 15 years ago.
“Returning to that could have been – who knows? It might have felt awkward, it might have been difficult.”
He then added: “I might not have been able to run as fast. But we had a lovely time. Russell T. Davies is back running the show. It felt like we had never been away. That’s all you’re getting.”
Millie, best known as Kelly Neelan in Corrie, spoke of the excitement she felt when she was announced as the Doctor's companion in November.
"It's insane. I was so honoured to even be considered for an audition. I just hope I can make you all happy and fill the boots of the other companions," she said.
In a statement, Millie said: "Whilst still being in total disbelief, I am beyond honoured to be cast as the Doctor’s companion.
"It is a gift of a role, and a dream come true, and I will do everything to try and fill the boots the fellow companions have travelled in before me.
Ncuti said of Millie: "She is full of talent, strength, she has a cheeky sparkle in her eye and is sharp as a razor. From the moment she walked into the room she captured all of our attention with her effervescence and then solidified that attention with the sheer torque of her talent.
"This adventure is going to be so wild and so fun, I cannot wait to sail the universe with Millie!"