The actor and comedian will appear in the opening episode of series 10, which starts filming next week in Cardiff (Monday 20 June), and looks set to return through out the run.
Steven Moffat, the show’s lead writer and Executive Producer, said: “Delighted and slightly amazed to be welcoming Matt Lucas back on to the TARDIS – and this time it’s not just for Christmas, he’s sticking around.
“One of the greatest comedy talents on planet Earth is being unleashed on all of time and space.”
Series 10 also marks the arrival of Pearl Mackie as the Doctor’s new companion and will include a guest appearance by Stephanie Hyam, who played Lily Clarke in Jekyll & Hyde.
Confirmed writers for the series include Moffat, who is stepping down at the end of the series, Frank Cottrell-Boyce, Sarah Dollard and Mike Bartlett.
Doctor Who will return in December 2016 with a Christmas Special, followed by the new series in 2017.
