There is now a very exhaustive and excellent website listing Google Earth Locations so this page can't compete with that. I'm just offering a small selection of very memorable and recognisible features used in the show.
Google Earth Placemarks for Showing Areas of Filming
To view these interactive satellite maps in full you will need to download Google Earth.
These locations are not chosen for being particuarly exciting or significant, they are chosen because they can be located on Google Earth, they are high resolution, and they are not just a generic building. There are definitive lists of EVERY Doctor Who location for Google Earth available elsewhere on the web.