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Ace returns to Perivale to visit her friends, only to find they have been abducted to an alien planet by a race called the Cheetah People who were shown the way to Earth by the Master. The Doctor must find a way off the planet before they all succumb to its savage influence.
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The Doctor takes Ace on an initiative test to a strange Victorian old house where she is forced to confront her darkest fears.
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Knights from a parallel universe arrive on Earth to find the legendary sword Excalibur. Only the Doctor and Ace, with the assistance of Brigadier Lethbridge-Stewart, can save the Earth from total catastrophe.
