Both Sophie Okonedo and Terence Hardiman, who played Liz 10 and government head Hawthorne respectively, have had experience in Doctor Who related roles.
Beauty and the Beast | The Daily Beast | Beauty and the Beast (1991 film) | Beauty and the Beast (musical) | The Beast | Beast from Haunted Cave | Beast Boy | The Beast with Five Fingers | Maggie and the Ferocious Beast | Beast of New Haven | Beast | The Beast Reawakens | The Beast (2009 TV series) | In the Heart of the Beast Puppet and Mask Theatre | In the Belly of the Beast | Disney's Beauty and the Beast | Beauty and the Beast (1946 film) | Beauty and The Beast | Beast of Gévaudan | Beast Machines | The Beast Must Die (film) | The Beast Must Die | The Beast in the Heart | Prehistoric Beast | Beauty and the Beast: The Enchanted Christmas | Beast (comics) | Youth of the Beast | War of the Colossal Beast | The Very Beast of G.G.F.H. Vol. 1 | The Kaiser, the Beast of Berlin |