The metal dog was a lady?
The Doctor's never traveled with just K-9 so I largely ignored him.
I guess he and Mickey do have a lot in common! :hehe:
The third Doctor, Jon Pertwee, had these companions:
Liz Shaw (Caroline John)
Jo Grant (Katy Manning)
Sarah Jane Smith (Elisabeth Sladen)
..all contemporary earth females .
This is correct which is why I didn't mention the Third Doctor when discussing times the Doctor didn't have any contemporary human companions. For that matter I didn't mention the Fifth, Sixth, Seventh, Eight, Ninth, Tenth, or Eleventh since they've always traveled with at least one contemporary human companion as well. I suppose the Third Doctor stands out a bit since Doctors before and after him both spent time without contemporary companions :shrug:
The First Doctor starts with two contemporary companions, Barbara and Ian. After they leave the Doctor spends some time with Vicki (future), Steven (future), and Katarina (past) before picking up Dodo, who was contemporary. For the rest of the First Doctor's run he has contemporary companions. (Wikipedia also lists Sara Kingdom as a one episode companion, I'm not sure if one episode really counts but if it does she's from the future as well.)
The Second Doctor starts with Polly and Ben, who were companions of the First Doctor as well, but once they leave all of his remaining companions are either from the past (Jamie and Victoria) or future (Zoe).
The Fourth Doctors starts with two contemporary companions as well, Harry and Sarah Jane Smith. When they leave he spends time with Leela (past), Romana (not human), Adric (different dimension), Nyssa (future, different planet) before Tegan shows up at the very end of his run.
From this point on while the Doctor continues to find companions from different worlds and times there's always at least one who is a contemporary human. Tegan is replaced by Peri, then Mel, then Ace, then Grace, then Rose, then Martha, then Donna, then Amy. As I mentioned before some of the 10th Doctor's Christmas Specials are exceptions, we have people from the future in Voyage of the Damned and The Waters of Mars and people from the past in The Next Doctor. However these are also one-off episodes.