Venusian ( Voyage to Venus ) Venusians were originally modified human s who had forgotten their origin of Earth . Biology . The Venusians looked similar to Earth human s , except for the green plumage they were covered in . The females had normal intelligence and size , while the males were the size of a pomegranate and were only kept for breeding . They engineered themselves to be able to breath the original atmosphere of venus as well as the terraform ed atmosphere . ( AUDIO : " Voyage to Venus " ) Technology . The Venusians lived in the sky , using sky yacht s and living in the floating city of Amtor . They used laser weapons , barbed hunting nets and explosives the size of coins . They also used remote televisors , communal addresser and electric illuminatiors . Until introduced by George Litefoot , they had no forensics . ( AUDIO : " Voyage to Venus " ) Culture . The Venusians had a lightning god and sun god and believed in the Happy Hunting Grounds . Until being introduced by Jago and Litefoot , they had no form of music . ( AUDIO : " Voyage to Venus " ) Afterwards , they sang lullabies . By the time of his third incarnation , the Doctor had learnt Venusian lullabies from the developed Venusian culture and used them to soothe an Aggedor beast several times during his visits to Peladon . ( TV : " The Curse of Peladon " , " The Monster of Peladon " ) History . The Venusians were one of the descendant species of human s . After Earth became unliveable , they moved to Venus . They engineered themselves to survive on the planet and set up oxygen factories to make Venus more Earth - like . They eventually forget this as well , believing that the oxygen was a byproduct instead of the purpose of the factories . During the reign of Empress Vulpina , Vulpina found the cryogenic chambers of the Cytherians and met with Vepaja . She promised to help the Cytherians , but instead released their preserved specimens and took the young Cytherians as slaves . She also made the caves where the chambers were forbidden , secretly killing her scientist Corvina when she was planning to visit the caves . 6 years later , the Sixth Doctor , Jago and Litefoot happened to visit Venus and were captured . When the scientist Ursina explained the situation , the Doctor and Litefoot were able to show that Corvina had been murdered . Vulpina decided to murder them too , forcing the Doctor , Litefoot and Ursina to escape . They went to the caves , where they met Vepaja . In order to protect her secrets , Vulpina followed them and tried to kill them with an explosion . Vepaja protected them , but decided this was an act of war . He used his psychic powers to cause Amtor to crash . He then psychically controlled a herd of Shanghorn s to destroy Amtor . The Doctor was able to warn Jago and Litefoot about the Shanghorns , who were able to put them to sleep with music . With his army sleeping and the Venusian capable of attack , Vepaja agreed to negotiate for peace . Meanwhile , when the Venusians learned of Vulpina ' s actions , she was deposed and the captain of the guard , Felina , took power . The Second Doctor , Jamie McCrimmon and Victoria Waterfield visited the Venusians hundreds of years later . At this time , the Venusians lived on the ground and lived in peace with the Thraskin s . ( AUDIO : " Voyage to Venus " )