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The Venusians looked similar to Earth humans, except for the green plumage they were covered in. The females had normal intelligence and size, while the males were the size of a pomegranate and were only kept for breeding. They engineered themselves to be able to breath the original atmosphere of venus as well as the terraformed atmosphere. (AUDIO: Voyage to Venus)
The Venusians lived in the sky, using sky yachts and living in the floating city of Amtor. They used laser weapons, barbed hunting nets and explosives the size of coins. They also used remote televisors, communal addresser and electric illuminatiors. Until introduced by George Litefoot, they had no forensics. (AUDIO: Voyage to Venus)
The Venusians had a lightning god and sun god and believed in the Happy Hunting Grounds. Until being introduced by Jago and Litefoot, they had no form of music. (AUDIO: Voyage to Venus) Afterwards, they sang lullabies. By the time of his third incarnation, the Doctor had learnt Venusian lullabies from the developed Venusian culture and used them to soothe an Aggedor beast several times during his visits to Peladon. (TV: The Curse of Peladon, The Monster of Peladon)
The Venusians were one of the descendant species of humans. After Earth became unliveable, they moved to Venus. They engineered themselves to survive on the planet and set up oxygen factories to make Venus more Earth-like. They eventually forget this as well, believing that the oxygen was a byproduct instead of the purpose of the factories.
During the reign of Empress Vulpina, Vulpina found the cryogenic chambers of the Cytherians and met with Vepaja. She promised to help the Cytherians, but instead released their preserved specimens and took the young Cytherians as slaves. She also made the caves where the chambers were forbidden, secretly killing her scientist Corvina when she was planning to visit the caves. 6 years later, the Sixth Doctor, Jago and Litefoot happened to visit Venus and were captured. When the scientist Ursina explained the situation, the Doctor and Litefoot were able to show that Corvina had been murdered. Vulpina decided to murder them too, forcing the Doctor, Litefoot and Ursina to escape. They went to the caves, where they met Vepaja. In order to protect her secrets, Vulpina followed them and tried to kill them with an explosion. Vepaja protected them, but decided this was an act of war. He used his psychic powers to cause Amtor to crash. He then psychically controlled a herd of Shanghorns to destroy Amtor. The Doctor was able to warn Jago and Litefoot about the Shanghorns, who were able to put them to sleep with music. With his army sleeping and the Venusian capable of attack, Vepaja agreed to negotiate for peace. Meanwhile, when the Venusians learned of Vulpina's actions, she was deposed and the captain of the guard, Felina, took power.
The Second Doctor, Jamie McCrimmon and Victoria Waterfield visited the Venusians hundreds of years later. At this time, the Venusians lived on the ground and lived in peace with the Thraskins. (AUDIO: Voyage to Venus)