In the novella Revenge of the Judoon, where they seized Balmoral Castle in 1902 after being conned into a fraudulent mission, they made a deal with the Doctor that meant Earth was off-limits to them, something confirmed as canonical with the TV series by the BBC Monster Files feature.
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Alongside Sontaran commander Strax, a large battalion of Silurian warriors, and the newly space-pirating former crew of the Fancy, they help to apprehend Colonel Manton and his Cleric forces.
An unabridged audiobook was released in June 2010 on download only, read by Nicholas Briggs who provides the voices of the Judoon on the Television series.
The Judoon seek out and arrest Androvax; Captain Tybo commandeers a London Metropolitan Police vehicle and aggressively enforces English car stereo volume limits (threatening a human violator with deadly force); and he and his colleagues summarily sentence Clyde and Rani to restriction to Earth as punishment for their interference.