Yes I found torchwoid enjoyable and definatly can work something good from the children of earth but yes the books are better but generally that's usually the way because books can usually explore things that tv can not especially showing what a characters thinking adds more depth I find .
I'm quite excited as I just found a book store that specializes in sci fi and fantasy (thank you google maps) and while they only stock new doctor who books they also have a good collection of doctor who on DVD and audio books went a little crazy and got two box sets and two dr who books as well as x-men, aliens, fantastic 4 had to drag myself out before I spent the rent oh well I know where it is now