There have been quite a few, but my brain isn't working at the moment. I thought of Geoffrey Palmer then went blank. Bernard Cribbens was in the 2nd Dalek film if that counts.
Pity they couldn't have got Jean Marsh to do an episode given her parts across the classic series.
I can throw in a cheeky candidate
David Tennant was in some Big Finish stuff which is based in the classic era
Arthur cox who played cully in the dominators was also in the eleventh hour. He holds the record for the longest gap between appearances in doctor who(42 years).
Probably does not count but rachel out of only fools and horses said in dates she had a one line part in doctor who. The actress who played rachel-tessa peake jones was in the time of the doctor. I'll get my coat....
William Thomas is the only actor to appear in the classic series, the new series, and Torchwood. He played the undertaker in Remembrance of the Daleks, the guy who dies at the beginning of Boom Town, and Gwen's dad in Torchwood. Impressive really!
Probably does not count but rachel out of only fools and horses said in dates she had a one line part in doctor who. The actress who played rachel-tessa peake jones was in the time of the doctor. I'll get my coat....
Maybe it was the same line/part and The Doctor took her back 25+ years early
Most recent one on screen(I think!)...Trevor Cooper, who was Friar Tuck in Robot of Sherwood as well as Revelation of the Daleks. (He was very good in, one for the teenagers, Star Cops.)
Edit: Zoe Wanamaker was in State of Decay?! Genuinely had no idea and liked that story a lot.
Most recent one on screen(I think!)...Trevor Cooper, who was Friar Tuck in Robot of Sherwood as well as Revelation of the Daleks. (He was very good in, one for the teenagers, Star Cops.)
Two other actors from Revelation of the Daleks have also appeared in Nu-Who, Colin Spaull and Clive Swift
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I guess I wont win a prize
Geoffrey Palmer was in The Silurans & the Tennant Titanic / Kylie one.
(Sorry can't think of the titles! )
Voyage of the Damned! Which also featured Clive Swift, who had previously appeared in Revelation of the Daleks.
And there's Lis herself, of course, but that one's too obvious!
I can throw in a cheeky candidate
David Tennant was in some Big Finish stuff which is based in the classic era
Pyramids of Mars - The Impossible Planet/Satan Pit.
David Troughton, Curse Of Peladon, War Games, Enemy of the World (uncredited) & Midnight
Lynda Baron, The Gunfighters, Enlightenment & Closing Time
Pauline Collins, The Faceless Ones & Tooth and Claw
Zoë Wanamaker, State of Decay (uncredited) & End of the World, New Earth
And if playing the same character counts, Lis Sladen and Peter Davison.
Anne Reid was in the Curse of Fenric
Also Sheila Reid who played Clara's gran at Christmas, was in Vengeance on Varos.
He played Frax in Mindwarp and Martha's Dad in Series 3.
Some believe this was the same character. I like that idea.
Maybe it was the same line/part and The Doctor took her back 25+ years early
Louis Mahoney - played the older Billy in Blink, and he was also in Planet Of Evil and Frontier In Space.
Trevor Laird played Martha's Dad, and was also in Mindwarp.
Margaret John: Fury from the Deep / The Idiot's Lantern
Janet Henfrey: The Curse of Fenric / something coming soon in new series
Edit: Zoe Wanamaker was in State of Decay?! Genuinely had no idea and liked that story a lot.
Two other actors from Revelation of the Daleks have also appeared in Nu-Who, Colin Spaull and Clive Swift
http://tardis.wikia.com/wiki/Category:Actors_who_appeared_in_1963_and_2005_versions_of_Doctor_Who