Series 10 of Doctor Who was revealed in the BBC Worldwide Annual Review on 14 July 2015: "During the year matters under review included ... investments in The Musketeers S3 and Doctor Who S10."On 6 November 2015, in interview with the Radio Times, Steven Moffat elaborated: "We're making a full series. I can confirm that I am making a full series of 12 episodes, plus a Christmas special. I don't know when it goes out. That is up to someone else."

Moffat also said that "Peter Capaldi is going nowhere".

Only a Christmas special will air in 2016, with the rest of the series beginning broadcast in spring 2017. The tenth series will be Moffat's final series as showrunner, after which Chris Chibnall will take on the role.

Moffat confirmed an extra episode to the Daily Record on 4 February 2016: "I have fourteen Doctor Whos and three Sherlock films."

On 23 April, it was announced via a short trailer titled "Friend From the Future"that the Doctor's new companion will be "Bill", played by Pearl Mackie. Mackie described her character as "wicked" and "cool, strong, sharp, a little bit vulnerable with a bit of geekiness thrown in". The first readthrough began on June 14, with the start of filming beginning on 20 June,for an (as of yet) unknown airdate in April, 2017.

In May at a convention, Michelle Gomez confirmed she would be returning as Missy in Series 10.

In an interview with BBC Newsbeat on the 6th September, 2016, Steven Moffat revealed about the 2016 Christmas Special: "We've just started working on the Christmas episode.", further revealing that "It's got a lot of heart, but it's got a lot of brain too. Figure that one out."

On 12th September, 2016, Mark Gatiss told the audience at a Victoria & Albert Museum members' talk "I think the Christmas special… which is the only one this year…I think is one of Steve[n Moffat]’s best ever scripts, absolutely beautiful." and "It made me cry."