The Radio Times is releasing a special edition focusing on the companions. It can only be ordered online or over the phone (as far as I know) but it covers every companion since the show began. Its a decent size though at 164 pages and it includes:
Never-before-seen photographs and material from the RT archive
Profile of every companion from Ace to Zoe
The companions in their own words
Orders can be made over the phone (0844 543 9836) though its a little pricey at £9.99, though that does include delivery