The TARDIS is a time machine disguised as a blue telephone police box in the Doctor Who series. It was described that when the TARDIS rematerializes, it scans the immediate area and automatically camouflages itself into the most inconspicuous object such as a column if in ancient Rome. However, after it rematerialized in 1963 London, England as a Blue police box where the "chameleon" circuit (or camouflage unit) was faulty and got stuck ever since.
This was explained by the Doctor in Season 1 (2005) in episode #11.
The reality was that it would cost BBC too much money to change the look of the TARDIS for each episode so the Blue box stuck.
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