In the series' narrative, Rose is introduced in the eponymous series one premiere as a teenage working class shop assistant from London, alongside her own supporting cast in the form of her mother Jackie Tyler (Camille Coduri) and her boyfriend Mickey Smith (Noel Clarke). Over the course of the first series Rose's human actions and responses contrast with the Doctor's alien perspectives. Rose grows increasingly trusting of the Doctor and comes to realise she has fallen in love with him. He comes to value and depend on her and sacrifices his Ninth incarnation for her. Rose forms a similar bond with the new Doctor, but the two appear to be forever separated in the series two finale, although Rose's temporary return in the fourth series gives her relationship with the Doctor a resolution.
In promoting the series, both Piper and Eccleston stressed Rose's heroic characteristics whilst Davies highlighted her down to earth qualities and quintessential Britishness. Critical reaction noted that the character was more developed, independent and equal to the Doctor than previous companions had been, whilst the character's overall role in the narrative of the first two series was praised. However, reaction to the character's 2008 return was more mixed. Piper won numerous awards for her portrayal of Rose —including two National Television Awards —and since her initial role in the series, the character has ranked highly in numerous 'best companion' polls. After leaving as a series regular, Piper experienced success in other high-profile roles as an actress which has been partly attributed to her performances in Doctor Who.
Rose is introduced in the eponymous premiere episode of the 2005 series. There, she is saved from an Auton attack by the mysterious alien Time Lord known as the Doctor (Christopher Eccleston), and assists him in preventing an invasion of Earth. Subsequently, the Doctor invites Rose to be his travelling companion, taking her to the end of the world and giving her a "superphone" so she can remain in contact with her mother Jackie (Camille Coduri), and boyfriend Mickey (Noel Clarke). In their travels through time and space, Rose learns the importance of not tampering with history, when she attempts to save the life of her father Pete Tyler (Shaun Dingwall), who had died when she was a baby. Throughout these journeys, she and the Doctor are haunted by two mysterious recurring words: 'Bad Wolf'. Rose, the Doctor, and new companion Captain Jack (John Barrowman) come to understand the meaning of this phrase when they encounter an unstoppable army of evil alien Daleks on the space station Satellite 5. To return to the Doctor after he sends her home to Earth in series finale "The Parting of the Ways", Rose tears open the console of the Doctor's time machine, the TARDIS, and becomes suffused with the power of the time vortex. Returning, she uses her power over the infinity of time and space to spread the words "Bad Wolf" over its entirety, then saving the universe from the Dalek invasion. Rose resurrects Jack, who died from Dalek fire, and destroys the Dalek fleet before the Doctor drains the energy out of her—by kissing her—to save her life from its harmful effects. Rose is horrified as the Doctor appears to die and regenerates into a new man (David Tennant), who proceeds to take the TARDIS and a terrified Rose to Earth, abandoning Jack on Satellite 5.
The new Doctor and Rose arrive on Earth on Christmas Day, where he passes out from the strain of regeneration in the midst of a Sycorax invasion in the 2005 Christmas special "The Christmas Invasion". Having woken up and saved Earth, the Doctor enjoys Christmas dinner with Rose before the two once again depart to parts unknown. Over the second series (2006), Rose and the Doctor grow increasingly close to one another. After defeating a werewolf, they are knighted by Queen Victoria (Pauline Collins), who banishes them as threats to the Empire whilst setting up the Torchwood Institute, which aims to track the Doctor and other aliens. Their relationship proves a source of tension once Mickey joins the pair in their travels, at the suggestion of the Doctor's former companion Sarah Jane Smith (Elisabeth Sladen). Whilst stranded in a parallel universe, Rose meets a rich, entrepreneur version of her father who never died. Mickey decides to stay behind on this world to battle the Cybermen—emotionless cyborgs which seek to convert humans to their ranks—as he no longer wants to feel like a spare part. Alone with the Doctor again, Rose faces the mythical Beast (Gabriel Woolf), who prophesies that Rose will soon die in battle. This day comes when, in the present day, the Torchwood Institute's director Yvonne Hartman (Tracy-Ann Oberman) accidentally allows the Cybermen army and Dalek Cult of Skaro into Rose's reality, where they begin a war. In sealing the Cybermen and Daleks back into the "void" through which they came, Rose is transported to the parallel universe by Pete, to save her from also being pulled into the void. Rose becomes trapped in the parallel universe with Jackie and the alternate universe Pete as the walls between universes seal; she is later declared dead in her own universe. Months later, the Doctor is able to transmit Rose a goodbye message. She reveals she now works for that universe's Torchwood, and confesses her love for him. Before he can reply, their connection is lost.
In spin-off series Torchwood (2006–2011), the audience learns that Rose's act of resurrecting Jack cursed him with being unable to die. Her absence and the Doctor's pained estrangement from her proves a point of contention for the Doctor's series 3 companion Martha (Freema Agyeman); when Martha protects the Doctor, living as a human without his memories, it is still Rose that he dreams of. When the Doctor is reunited with Donna Noble (Catherine Tate) in the show's fourth series (2008), Rose mysteriously begins to appear in the Doctor's life—first seen only by Donna, and later in silent video messages which the Doctor fails to notice. When a "Time Beetle" creates an alternate universe in which Donna never meets the Doctor and the Doctor dies, Rose travels from her parallel world to this world, working alongside the organisation UNIT to send Donna back in time, and make Donna's younger self turn left at a junction and not right. Rose tells Donna to say two words to The Doctor; 'Bad Wolf'. The Doctor concludes this is a sign that the Universe, and reality itself is under threat. Later, in the midst of Davros' (Julian Bleach) plot to obliterate existence, Rose unites with the Doctor and his companions Donna, Martha, Jack and Sarah Jane to make a stand against him and his army of Daleks. In the midst of the battle, a part-human Doctor is created and destroys the Daleks. The Doctor returns Rose to the parallel universe along with Jackie, and his part-human counterpart. Rose challenges the Doctor to say the words he did not say to her during their previous farewell. The Doctor does not answer, but his part-human counterpart whispers in her ear and Rose kisses him. The Doctor retreats, leaving Rose behind with his part-human counterpart. In the closing scenes of The End of Time (2010), just prior to his regeneration, the Doctor travels to Rose's housing estate in the first minutes of 2005. He speaks to her from the shadows, asking her what year it is. She tells him it is January 1, 2005. The Doctor promises her that she will have a really great year.