The lyrics you mentioned are part of the opening theme from the show's 1963 debut, sung by the group "The Tornados". The original lyrics are:
"**Time and space, and everything in it, all belong to you,
You got to get out of this place, if you wanna make it through.**"
The "Doctor Who" theme has been re-recorded and updated several times throughout the show's long history, but the core message and feel remain.