Torchwood's use of title cards was variable. The first two series never employed title cards, except for the name of the series itself. Instead, the series merely superimposed the episode title over the action of the first scene after the series title card. Torchwood: Children of Earth was the only series that had anything approaching a title card, in the form of a brief 10-second animation, transiting from the programme to the series to the episode name. Torchwood: Miracle Day abandoned onscreen episode titles entirely. Indeed, episode titles were only confirmed by their publication on the Starz website.
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Series 3 Edit
Children of Earth was unique amongst Torchwood series in that it actually did have a more-or-less traditional title card. The card was a brief, ten-second animation.