Man-at-arms (The Crusade)

The man-at-arms was part of the Earl of Leicester’s party to capture the First Doctor and execute him as a traitor to King Richard. After the Doctor and his companions escaped into the TARDIS, the man-at-arms heard a voice. Rushing to the source, he and Leicester saw the TARDIS dematerialise. They decided to speak of this to no one. (TV: The Crusade)