Sensorites

"Oh, look, Grandfather. I understand the Sensorites. They're timid little people. Because their minds and mine can communicate sometimes, they trust me"

The softly-spoken, telepathic Sensorites were encountered by the First Doctor and his companions very early in their travels. The Sensorites had captured and brainwashed a crew of Earth scientists – driving one of their number completely mad in the process. The Doctor travelled to their homeworld, the Sense-Sphere, and learned that previous Earth expeditions had tried to exploit its mineral reserves. An honourable race, once the Doctor helped root out treachery in their own people, the Sensorites agreed to letting the humans go.

The Tenth Doctor later remarked that Sense-Sphere is in the same system as the Ood-Sphere – the planet of the telepathic Ood.