It follows allegations that in the past the actor repeatedly exposed himself while filming the TV shows.
Mr Barrowman has previously apologised for his behaviour.
Torchwood: Absent Friends was made by Big Finish, the company licensed by the BBC to produce official Doctor Who and Torchwood audio plays.
It was due to be released this month. In it, Captain Jack was due to be reunited with the Doctor, voiced by David Tennant, who played the character on TV between 2005-2010.
A Big Finish spokesperson said: "We have no plans to publish this title at this time."
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