The comedian, who is a huge fan of the long-running science-fiction series, will appear on screen this autumn alongside Peter Capaldi who is playing the latest incarnation of the hero timelord in an episode by Being Human writer Jamie Mathieson.
Skinner said: "I love this show. I subscribe to Doctor Who magazine, I've got a Tardis ringtone, a five-foot cardboard Dalek in my bedroom and when I got the call saying they wanted me to read for the part, I was in the back of my tour bus watching episode three of The Sensorites. I am beyond excited."
The show's lead writer, Steven Moffat, said: "It's no secret that Frank's been pitching vigorously to get into Doctor Who for a while. He's been volunteering to be 'third monster on the left' as long as I've been in this job.
"Hopefully he'll get out of my garden now."