The 50-year-old comedian and actor will appear in series eight's finale, though details of his character are yet to be confirmed, reported Digital Spy.
"I'm thrilled to have made a small contribution to and now be part of the Doctor Who universe. Another dream box ticked!," he said.
Steven Moffat, Doctor Who's lead writer and executive producer, added, "I'm completely thrilled that Sanjeev Bhaskar is coming to the aid of the Doctor. The danger is never deadlier than in a finale episode, and the Time Lord is going to need all the help he can get!"
Bhaskar is married to Meera Syal, who previously appeared in 'Doctor Who' in 2010, and has himself featured in the 'Doctor Who' audio plays produced by Big Finish.