If anyone is interested in Doctor Who audios, I highly, and I do mean highly, recommend you taking a look at Big Finish.
(They also do audios for Sherlock Holmes, Blake’s 7, Stargate, Highlander, Robin Hood, and various others.)
Not only do they have audio books, but a lot of their audios are in a radio play format, I think is best to describe it, and are extremely well done. They tend to focus more on new adventures for Classic Doctors (with the original actors where they can) but there are Eleven and Tenth Doctor stories done as well.
And if you’ve ever wanted to see the Eighth Doctor’s run, aside from the movie, then here’s the place (aside from novels and comics of course) and it is a very good run, from what I’ve heard of it.
And believe me, the price is worth it and what more can I say, the folks at Big Finish are very good at what they do.