Well, this isn't easy, but I decided to have a go..... Jack was the only easy one.... And I have segmented them in to groups, I segmented after ordering but they fitted...
Captain Jack
River Song
Rose Tyler
Rory Williams
Amy Pond
Sarah Jane Smith
K-9
Mickey Smith (of S1 and 2)
Wilf Mott
Donna Noble
Mickey Smith (of S4)
Martha Jones
The companions who aren't really real companions:
Sally Sparrow
Adam
Adelaide
Lady Christina de Souza
Jackson Lake
Astrid Peth
And No, Mickey and Martha should not have happened. The End.