Dinosaurs on a Spaceship had an overnight audience of 5.5 million viewers, a share of 26.2% of the total TV audience.
The rating was the highest on BBC One for the day, and second overall, with ITV1's The X Factor once more winning the night with 8.2 million watching. Ratings across the evening were down on the previous week with Ant and Dec's Red or Black? taking 3rd and 4th place, achieving 3.4 million viewers against The Doctor.
The summer of music at the Royal Albert Hall concluded with The Last Night of the Proms which had 3.2 million watching.
The rating compares with last year's second story of the autumn, Night Terrors, which also had 5.5 million watching, but had a slightly lower audience share and lost out to Red or Black?
The rating for Doctor Who puts it at 15th place for the week, with Sunday's ratings still to come, although final consolidated figures, which will be available next week, should see this position rise.
Meanwhile Friday's BBC Three repeat of Asylum of the Daleks had 0.40 million watching.