Penelope Gate

Penelope Gate was the human creator of a time machine, (PROSE: The Room With No Doors) the wife of the Time Lord Ulysses, (PROSE: The Gallifrey Chronicles) and the Doctor's mother. (PROSE: The Infinity Doctors, The Gallifrey Chronicles)

By other accounts, the Doctor's mother was a Time Lord (COMIC: The Comfort of the Good) or the Doctor didn't have parents at all. (PROSE: Lungbarrow)

Biography
The first time she successfully used her time machine, she used a lightning strike to charge it up. She travelled to 1996 where she obtained a mutated Tzun battery to power her machine. There she met Joel Mintz, who became her companion, although they became stuck in 16th century Japan. There Penelope met the Seventh Doctor, who took her back to her own time of 1883. (PROSE: The Room With No Doors)

Later in her life she met the Time Lord Ulysses, whom she married. Unbeknownst to the High Council, they had a son together. (PROSE: The Gallifrey Chronicles) The Doctor remembered that his mother's name was Penelope. (PROSE: The Infinity Doctors) Penelope and Ulysses became friends with Mr Saldaamir, with whom they frequently went exploring. The trio also associated themselves with Lady Larna, who was from their future. (PROSE: The Gallifrey Chronicles)

When the Time Lord Marnal threatened to expose Penelope's and Ulysses's activities, they used the telepathic circuits of his TARDIS to wipe his memory, and they dumped him on Earth in England, 1883, to board with Penelope's mother. (PROSE: The Gallifrey Chronicles)

Appearance
Penelope had long red hair. (PROSE: The Infinity Doctors, The Gallifrey Chronicles, A Big Hand for the Doctor) At the Shoal, Penelope wore an ankle-length skirt and prim white blouse, with her hair "[hanging] wild to her waist". (PROSE: The Gallifrey Chronicles)

In the portrait with her husband hanging above the Doctor's fireplace, she appeared slightly plump with red hair. (PROSE: The Infinity Doctors)

Behind the scenes

 * Kate Orman, creator of Penelope Gate, said it was "absolutely clear" in her mind that Daniel Joyce abandoned Penelope to raise their son on Earth. This was meant to explain why, in Black Orchid, the Fifth Doctor said he always wanted to drive a steam train when he was a boy.