Am I the only one who sees Martha as an ISFJ? she is a very inconsistent character though... ranges from ISFP to ESTJ depending on the plot! same with Amy Pond, I think ISFP. But at times she seems ENFJ! Lazy character development, again. Like with Martha, think she is just filling a role. Shame.
Travelling with the Doctor seems to change people's characters. I'd say Rose was initially an ESFP but became ENFP.
Donna - ESFJ, no question really.
Micky Smith - ISTx
And the Doctor is ENTP, of course
As for Jack Harkness, I reckon he was initially ESTP. But after watching the latest Torchwood stuff he's veering toward ENTJ at times. He scares me a bit...