This image from Morgane Parisi, a French freelancer living in Greece, charts all of the Doctor’s companions from 1963 to 2013.
I think Parisi has done a great job but she humbly concedes she missed off character’s like Rose’s father, Stormageddon, Nefertiti and John Ridell as well as a few from 11. I’m sure they count, or if they count, not sure they qualify for the poster.
You can buy your own digital version of this print from Gumroad for just $1, or more if you think it’s worth it, and pre-order your paper version. I hope many Doctor Who fans do.