Piper played Rose Tyler on the show between 2005 and 2008, the companion of Christopher Ecclestone and David Tennant’s Doctor.
In a Cameo video, the actor said she would consider reprising the role if the moment was right.
Billie Piper said: “I keep in touch with people.
“Would I go back? I think if the story were right.
According to Billie Piper on one of her public CAMEO videos, she was asked if she’d go back “if the circumstances and the story were right” and that she’s had enough time away to really really want back in on it! #doctorwho pic.twitter.com/o5iddkzORT
— Owen ✨🛸 🎗 (@WhovianLife) September 28, 2021
“I feel like I have had enough time away from it to really really want back in on it.
“I feel like my kids are at an age where they would appreciate that too, which is often my incentive to do anything.”
The news comes as Russell T Davies, who was behind the revival of the Time Lord, is set to return.
Davies, who left the show in 2009, will make his return to celebrate the 60th anniversary of Doctor Who in 2023.
He said: “I’m beyond excited to be back on my favourite show.
“But we’re time-travelling too fast, there’s a whole series of Jodie Whittaker’s brilliant Doctor for me to enjoy, with my friend and hero Chris Chibnall at the helm – I’m still a viewer for now.”
Piers Wenger, BBC director of drama, said: “As the 13th Doctor prepares to embark on new and extraordinary adventures, the winds of change are blowing… bringing with them news to delight Doctor Who fans across the globe.
“We are thrilled that Russell is returning to Doctor Who to build on the huge achievements of Chris and Jodie. Thank you to the two of them and the team in Cardiff for all they continue to do for the show and hello Russell, it’s wonderful to have you back.”