Miller is the second Death In Paradise actor to appear in the hit Sci-Fi series, in 2006 Don Warrington appeared opposite David Tennant in a story which re-introduced the Cybermen.
His comedy partner Alexander Armstrong appeared in the show’s 2011 Christmas Special as well as providing the voice for Mr Smith the computer in spin-off The Sarah Jane Adventures.
Miller will play the baddie in an episode written by Mark Gatiss.
Commenting on his casting, the actor said: “As a committed Whovian I cannot believe my luck in joining the Twelfth Doctor for one of his inaugural adventures. My only worry is that they’ll make me leave the set when I’m not filming.”
Steven Moffat, lead writer and executive producer, adds: “Mark Gatiss has written us a storming villain for his new episode, and with Capaldi in the TARDIS, we knew we needed somebody special to send everybody behind the sofa. And quite frankly, it’s about time Ben Miller was in Doctor Who!”