Wendy Padbury Wendy Padbury ( born on 7 December 1947 in Warwickshire , England ) played companion Zoe Heriot from " The Wheel in Space " to " The War Games " and again in " The Five Doctors " . Padbury came to prominence as an actor in 1966 , when she joined the cast of the long - running soap opera " Crossroads " . She played the role of Stephanie " Stevie " Harris , foster daughter to the show ' s main character , ( ) . She was cast as the Second Doctor ' s new companion , Zoe Heriot , in " Doctor Who " in 1968 . She became very close to her co - stars Frazer Hines and Patrick Troughton . Padbury tells many fond stories about the practical jokes they played on each other during rehearsals ; perhaps the most famous tale she told about this was when , in rehearsal , she fell asleep . As she was wearing a kilt , Patrick Troughton undid the clasp and then woke her up . Startled , she leaped up and the kilt fell off . In those days , the rehearsals for " Doctor Who " were held in a Church hall - the moment Wendy leaped up and screamed was the exact moment the Vicar walked into the hall . Wendy now says , very fondly of Patrick Troughton , that he had deliberately timed it so ! Her connection with " Doctor Who " , after she left the programme ( at the same time as Hines and Troughton ) was not quite over . She appeared in " Doctor Who and the Daleks in Seven Keys to Doomsday " ( 1974 ) , a stage play at the London based on the television series , in which she played a companion named Jenny , opposite Trevor Martin as the Doctor . She made a cameo appearance , again opposite Hines and Troughton in " Doctor Who " s twentieth anniversary story , " The Five Doctors " . Other roles include co - presenter of the second series of . She was also in , in which she played Sue . She made a series of appearances in the British soap opera ( then known by its original title " Emmerdale Farm " ) co - incidentally opposite Frazer Hines , one of the major stars of that show . Wendy voiced Lorraine Baynes in the Big Finish " Doctor Who " audio story " Davros " and the Time Eater in " Jago & Litefoot " audio story " Chronoclasm " . She reprised the role of Zoe in several Big Finish audio plays : " Fear of the Daleks " , " Legend of the Cybermen " , " Echoes of Grey " , " Prison in Space " , " Tales from the Vault " , " The Memory Cheats " , " The Uncertainty Principle " , " The Rosemariners " , " The Apocalypse Mirror " , " The Queen of Time " , " Lords of the Red Planet " , " The Dying Light " , " Second Chances " , " Last of the Cybermen " , " The Isos Network " and " The Integral " . In an interview with " Doctor Who Magazine " , Padbury explained that , although she no longer appears at " Doctor Who " conventions , nor does she speak about her time on the programme , it is not because she is ungrateful or bitter towards the programme , but because she feels she no longer has anything new to say about her time in the show . Since her retirement , she has returned to the convention ' scene ' . Padbury was , for a time , married to Melvyn Hayes . They are the parents of Charlie Hayes . She is now retire d and lives in France , having previously acted as a theatrical agent . Nicholas Courtney , Colin Baker and Mark Strickson , all former " Doctor Who " actors , were among her clients . She also helped to discover Matt Smith when he was at the National Youth Theatre .