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Often referred to as one of the best, if not the best, writers on Doctor Who (1963), his period as script editor on the series, with Philip Hinchcliffe as producer, is also considered by many to be the high point of the entire series. In a poll for Doctor Who (1963) Magazine in 1998, three of the stories voted into the top five were written by Holmes, with the other two being from his period as script editor. In fan site Outpost Gallifrey's 40th Anniversary Poll, five of the serials from his time as script editor were voted by fans into the top ten. Four of the stories voted into the top ten were written by Holmes, including one he wrote under the pseudonym of Stephen Harris. The top three were all written by Holmes.

His work on Doctor Who (1963) was the subject of the documentary Behind the Sofa: Robert Holmes and Doctor Who (2003).

Both Russell T. Davies and Steven Moffat cited Holmes' writing as an influence on their work on Doctor Who (2005). They both cited Holmes' story "The Ark in Space" as a favourite. Moffat even called him "the man who showed us how to write Doctor Who".

He was the youngest ever commissioned officer in the Queen's Own Cameron Highlanders, serving in Burma.

Russell T. Davies has compared his dialogue in The Talons of Weng-Chiang: Part One (1977) with the work of the esteemed screenwriter Dennis Potter.

He was the final editor of 'John Bull Magazine'.

He smoked a pipe.

He was offered the script editor's position on Blake's 7 (1978). He declined, but he did recommend Chris Boucher for the job. Holmes would write four episodes of the series.

A number of his Doctor Who stories revolve around the idea of crippled super-villains who are trying to regain their health and their power.

Holmes was offered the script editor's position on the series "Blake's 7", but he declined.

Before his time in the Doctor Who series, the Time Lords were depicted as having established a Utopian society. He re-imagined them as a society of elderly bureaucrats who are wasting their time and their powers, explaining why "renegades" like the Doctor are so eager to escape this society and its rules.

Holmes wrote 18 Doctor Who stories between 1968 and 1986. He also modified the scripts of other writers during his term as the series' script editor in the 1970s. He is credited with establishing much of the backstory about the Time Lords (the Doctor's alien race), including creating the name "Gallifrey" for their planet, coming up with the idea that the apparently immortal Lords have a limit of 12 regenerations in their lives, and that there was a way for that limit to be bypassed.