There's been three official Doctor Who plays - 'The Curse of the Daleks' (without the Doctor but with Daleks), 'Doctor Who and the Daleks in Seven Keys to Doomsday' (with both the Doctor and the Daleks) and 'Doctor Who - The Ultimate Adventure' (again with both the Doctor and the Daleks but also with the Cybermen and Margaret Thatcher!).
None of the them set the West End alight and were suspiciously absent at their year's respective Olivier Awards... but Doctor Who fans have a bit of a soft spot for them.