Doctor Who fan or not, you will want to check this show out. It has great plot lines, it's extremely interesting, sexy, and fun. If you're expecting a more action-packed Doctor Who, you may be a bit disappointed. The Doctor may make an appearance or two, because the show is closely tied to Doctor Who, but for a person that isn't a Doctor Who watcher, it can be viewed as a standalone show. However, for Doctor Who fans that are fans of Captain Jack, this will be perfect for you. The sex in the show isn't mild, but not too explicit. Anyway, I wouldn't let my 12 year old watch it. Think of it as a mature PG-13. The main character is bisexual, and homosexual activity and sexual activity towards aliens is treated as normal because of the society they live in (it's the 51st century). The point of the show is to move past prejudices and stereotypes, however, if you still aren't comfortable with it, this is IS NOT for you. The violence can be bloody and a bit disturbing, but nothing worse an PG-13 movie. Also, the language can be a bit bad, using words like f--k and s--t, but if you're okay with that, it's barely noticeable. Just make sure your kids aren't too young to hear it.There's some drinking, but nothing abnormally bad.
Despite it all, Torchwood is a quality show and something that you should definitely watch.