The Key to Time: The Androids of Tara (Fourth Doctor).
Doctor Who meets The Prisoner of Zenda. Count Grendel was well written and acted but the rest of the Tarans came off as one not characters. The society was also pleasantly anachronistic. The have energy weapons electrified swords and androids, but use horses, live in castles and make use of feudalism. I also enjoyed that unlike the previous serials in the Key to Time arc, Romana finds the key immediately and spends the rest of the serial looking for a way to get it back from Grendel and Lamia.