The actor was surrounded by a close-knit group of loved ones as he received the honour and among them was Jameson, who starred as Leela alongside Baker's Fourth Doctor from 1977 to 1978.
Draped in a long red scarf (which he switched out at one point for his signature striped one), Baker can be seen with his MBE pinned to his lapel.
"It never ceases to amaze me how fondly people remember me 34 years after my last adventure in the TARDIS and I found it hard to believe it was so long ago when I found myself back in the TARDIS last week, with my beloved scarf around my neck!”
Jameson's character Leela travelled in the TARDIS alongside Baker's Fourth Doctor in nine stories (40 episodes) between January 1977 and March 1978.
Speaking last year at a BFI event about how she would have changed that ending, she said: "I think she should have died saving the Doctor's life – something really heroic. Or you travel forward and she's got a football team of children... something dramatic, anyway. I mean, it's so cliché, isn't it, that she's fallen in love, that's how we get rid of her."
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