- 1985: Portrayed The Doctor in the BBC radio play 'Slipback' based on "Doctor Who" (1963). Released on tape and CD in the 1990s.
- 1999: Portrays Popov in the made-for-CD audio dramatization of the novel "Birthright", part of Big Finish Productions' Adventures of Bernice Summerfield series, an audio spin-off of "Doctor Who" (1963) on which Baker played The Doctor in the 1980s.
- Recorded audio book tape adaptations of the Doctor Who novels "Vengeance on Varos," "Attack of the Cybermen" and "Out of the Darkness."
- Since 1999 has portrayed The Sixth Doctor in a series of audio productions by Big Finish Productions, based on "Doctor Who" (1963). These CD-only releases are officially sanctioned by the BBC.
- Portrayed The Sixth Doctor in the audio/animation production "Doctor Who - Real Time". It was made by Big Finished Productions for BBCi
- Reprises the role of Soloman, the character he plays in the made-for-video series, "The Stranger", in additional audio dramas produced by BBV. Soloman was initially inspired by Doctor Who.
- Has appeared in numerous theatre productions including: "Deathtrap", "Run For Your Wife", and the stage production "Doctor Who: The Ultimate Adventure".
- (2006) Provided a commentary for the Doctor Who (1963) DVD "The Mark of the Rani".
- (2007) Provided a commentary for the Doctor Who (1963) DVD "Timelash".
- (2001) Provided a commentary for the Doctor Who (1963) DVD "Vengeance on Varos".
- (2003) Provided a commentary for the Doctor Who (1963) DVD "The Two Doctors".
- (1972) He acted in Barry England's play, "Conduct Unbecoming," at the Liverpool Playhouse in Liverpool, Merseyside England with Neil Daglish and Ian Redford in the cast. Andrew Dallmeyer was director.
- (2007) Provided a commentary for the Doctor Who (1963) DVD "Arc of Infinity".
- (2008) Provided a commentary for the Doctor Who (1963) DVD "The Ultimate Foe".
- (2008) Provided a commentary for the Doctor Who (1963) DVD "Terror of the Vervoids".
- (2008) Provided a commentary for the Doctor Who (1963) DVD "Mindwarp".
- (2008) Provided a commentary for the Doctor Who (1963) DVD "The Mysterious Planet".
- (2009) Provided a commentary for the Doctor Who (1963) DVD "Attack of the Cybermen".
- (2009) Provided a commentary for the Doctor Who (1963) DVD "The Twin Dilemma".
- (1971) He acted in George Bernard Shaw's play, "Caesar and Cleopatra", in a Chichester Festival Production at the Chichester, Sussex, England with John Gielgud, Anna Calder-Marshall, Pat Nye, Harold Innocent, Michael Aldridge and Peter Egan in the cast. Robin Phillips was the director.
- (1972) He acted in Barry England's play, "Conduct Unbecoming," at the Liverpool Playhouse in Liverpool, Merseyside, England with Neil Daglish and Ian Redford in the cast. Andrew Dallmeyer was director.
- (1987) He acted in Gerald Moon's play, "Corpse!," at the Strand Theatre in London, England with Jack Watling, and Jean Reeve in the cast.
- (2006) played Caudo Inman in the BBC Radio series Earthsearch: Mindwarp.
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