Doctor Who: The Witch's Familiar finished with an official rating of 5.71 million viewers.
The rating issued by the Broadcasters' Audience Research Board, or BARB, includes all those who watched the programme within one week of transmission.
The rating makes Doctor Who the 24th most watched programme on British Television for the week and the 8th most watched BBC programme for the week.
The live Rugby where England played Wales, which took a sizable proportion of Doctor Who's audience, finished with a consolidated rating of 8.96 million. Top of the list was The Great British Bake Off which had a final audience of 11.09 million viewers.
The final rating of 5.71 million is the lowest since the series returned in 2005, although Silence in the Library in 2008, had a lower chart position with 27th.