Other than the Doctor themself, there are several other Doctor Who’s best companions can receive. It’s worth noting that there are many Time Lords who appear in Doctor Who, and while it’s naturally assumed they can fly a TARDIS, it’s difficult to say for certain without seeing it on-screen.

There are also some honorable mentions. Several of Doctor Who’s classic era companions are seen assisting the Doctor in-flight, but most of them aren’t seen piloting the TARDIS by themselves. Characters like Rose Tyler also attempt to fly the TARDIS, but only manage to do so through other means, and can’t really be considered official pilots.

16 River Song/Melody Pond

First On-Screen Flight: Modern Era - Season 5, Episode 4: "The Time Of Angels"

Doctor Who’s River Song is one of the very few characters we don’t get to see learn to fly the TARDIS. In “The Time of Angels,” River flies into the TARDIS (quite literally) and immediately takes over the controls.

It’s hilarious to see her criticize the Doctor’s flying abilities, and although she states he was busy the day she learned, it seems more than likely that it is the titular Time Lord who teaches her. Considering she isn’t quite River yet at the end of “Let’s Kill Hitler,” it’s hard to say whether Melody learned how to fly the TARDIS before becoming River or not.

15 Leela

First On-Screen Flight: Classic Era - Season 14, Serial 4: "The Face Of Evil"

Out of everyone who can fly the TARDIS, Doctor Who’s Louise Jameson as Leela is the most surprising. Leela can be seen piloting the TARDIS quite clearly in several serials, but strangely, she demonstrates her ability at the end of her first adventure, “The Face of Evil.” Leela rushes in and we hear her fiddling with the controls, rather than see it, but the TARDIS materializing away confirms her abilities.

14 Heather

First On-Screen Flight: Modern Era - Season 10, Episode 12: "The Doctor Falls"

Heather, Bill Potts’ somewhat romantic partner who merges with a puddle of sentient oil in season 10, can also somehow pilot the TARDIS. After Bill saves the dying Twelfth Doctor and Cyber-converted Bill in “The Doctor Falls,” Doctor Who season 10’s finale, Heather explains she is “The Pilot” (a nod to Bill’s debut episode), and she is able to fly anything due to her newly heightened intelligence.

13 Adric

First On-Screen Flight: Classic Era - Season 5, Serial 4: "Logopolis"

One Doctor Who companion from the classic era we definitely know can fly the TARDIS by themselves is Adric. It’s unclear exactly when Adric fully learns this skill as the Fourth Doctor takes on a mentor role in the companion’s early serials, but the first time he visibly pilots the ship is in “Logopolis.” This is a bittersweet moment, but at least the Doctor’s regeneration occurs after he gets to witness it.

12 Clara Oswald

First On-Screen Flight: Modern Era - Season 8, Episode 4: "Listen"

Although every version of Clara Oswald in Doctor Who is incredibly smart, not all are capable of flying the TARDIS. Clara is the first and only companion (so far) to learn how to pilot the TARDIS using the telepathic circuits, and while it isn’t the same as using the standard levers and buttons, it still counts. It’s great in the long run that she knows how to do this, considering the character’s fate, but especially as the newly regenerated Twelfth Doctor asks her how to fly the TARDIS because he forgets in “The Time of the Doctor.”

11 Ashildr

First On-Screen Flight: Modern Era - Season 9, Episode 12: "Hell Bent"

It’s unknown how Ashildr, Maisie Williams’ character in Doctor Who, knows how to fly a TARDIS, but it can be assumed that Clara somehow teaches her. However, considering their later adventures in Doctor Who’s extended media, it’s clear that Ashildr is far from a good TARDIS pilot, as the pair frequently crash or lose control of their TARDIS. Whether Ashildr could fly a TARDIS alone is yet to be discovered, although I’m sure she gets better over time.

10 Tasha Lem

First On-Screen Flight: Modern Era - Christmas 2013: "The Time Of The Doctor"

The Doctor Who Christmas special from 2013, “The Time of the Doctor,” introduces Tasha Lem. The Mother Superious of the Papal Mainframe has a past connection with the Doctor, which is presumably how she knows how to fly a TARDIS, which she tells Clara is a simple thing for her. While Tasha Lem says piloting the ship is “easy,” she also its that mastering the Doctor is something she’s never been able to achieve, hinting at something possibly more between her and the Time Lord.

9 Nardole

First On-Screen Flight: Modern Era - Christmas 2016: "The Return Of Doctor Mysterio"

Doctor Who’s Nardole can also fly the TARDIS. Matt Lucas’ character is great with technology and anything related to computers, and as he also knows how to use the sonic screwdriver, it only makes sense that he is able to pilot the Doctor’s ship. Nardole s Doctor Who as a companion in “The Return of Doctor Mysterio,” and during the episode, the Twelfth Doctor begins teaching him. To no surprise, Nardole picks it up rather quickly.

8 The Master

First On-Screen Flight: Classic Era - Season 8, Serial 1: "Terror Of The Autons"

One Time Lord, other than the Doctor, who has proven on-screen that they can pilot a TARDIS, is the Master. In fact, most incarnations of the Master in Doctor Who have more than one TARDIS of their own. It’s established that the Master can fly TARDISes in his first appearance in Doctor Who’s “Terror of the Autons,” as his introductory scene features him stepping out of his ship, which is disguised as a horsebox, rather than like the Doctor’s iconic police box.

7 Captain Jack Harkness

First On-Screen Flight: Modern Era - Season 1, Episode 11: "Boom Town"

Even though Jack isn’t seen piloting the TARDIS without the Doctor, there is plenty of evidence to suggest he could do so. For example, Jack is the one to create the forcefield around the TARDIS in “The Parting of Ways,” and he is seen fiddling with the console at various points without the Doctor’s assistance. Considering Doctor Who’s Captain Jack Harkness is a former Time Agent, it makes sense that he understands how the TARDIS works, too.