Guest Stars David Tennant as The Tenth Doctor Barnaby Edwards as Dalek Operator Nicholas Pegg as Dalek Operator Billie Piper as Rose Tyler Nicholas Briggs voices Dalek Voice Jemma Redgrave as Kate Stewart Paul Kasey as Zygon Aidan Cook as Zygon Ingrid Oliver as Petronella Osgood John Hurt as The Doctor Ken Bones as The General Nicholas Briggs voices Voice of the Zygons Chris Finch as Time Lord Soldier Joanna Page as Elizabeth I Peter de Jersey as Androgar Jonjo O'Neill as McGillop Tom Keller as Atkins Tristan Beint as Tom Philip Buck as Arcadia Father Sophie Morgan-Price as Time Lord Orlando James as Lord Bentham John Guilor voices Voice Over Artist Uncredited Peter Capaldi as The Twelfth Doctor Tom Baker as The Curator