Arthur Dent

Arthur Dent was a human who wore pyjamas and who had a history with the Doctor.

Biography
The Doctor once laid himself down in front of a bulldozer in front of Dent's home, leading Dent to think of the Doctor as "rather odd". He later documented this on the website whoisdoctorwho.co.uk. (PROSE: Have You Seen This Man?)

Dent eventually got to know the Doctor, though they didn't get along too well, as the Doctor displayed no interest in killing Vogons, and he often had more of an interest at beating Dent at Scrabble whilst simultaneously reminiscing with Ford Prefect about their "wild time" together in college. (PROSE: The Christmas Invasion)

This was why the revelation that the Tenth Doctor thought that Dent was a "nice man" and was reminded of Dent when he wore pyjamas would've "tremendously" surprised Dent. (TV: The Christmas Invasion, PROSE: The Christmas Invasion)

Dent and his travelling companion Zaphod Beeblebrox were among many imprisoned in the Time Lord prison Shada during the Eighth Doctor's version of Skagra's defeat. In another cell, there seemed to be a second version of Arthur. (WC: Shada)

Behind the scenes

 * The webcast illustration of Shada's interior contains Arthur Dent and Zaphod Beeblebrox from The Hitchhiker's Guide to the Galaxy as a further allusion to the shared universe of Douglas Adams's works.
 * In the non-Adams sequel to The Hitchhiker's Guide to the Galaxy, And Another Thing..., Arthur Dent compares the destruction of Earth to special effects on early Doctor Who.
 * Arthur Dent also appeared in the story 3am Eternal, printed in the charity anthology The Curse of Fanfic!.
 * Simon Jones played Arthur Dent in both the 1978 radio series and the 1981 TV serial of The Hitchhiker's Guide to the Galaxy.