Zoe Heriot is a fictional character played by Wendy Padbury in the long-running British science fiction television series Doctor Who. A young astrophysicist who lived on a space wheel in the 21st century, she was a companion of the Second Doctor and a regular in the programme from 1968 to 1969. Zoe appeared in eight stories.

Wendy Padbury is a British actress and former talent agent. She has appeared in television series since 1966, including as Zoe Heriot, a companion to Patrick Troughton's Doctor in Doctor Who, from 1968 to 1969.