What TV show is this alien character from?

Well, I was just skimming channels when I saw this show. It's a
Sci-Fi type show, and it's pretty similar to Stargate or Star Trek.
There are human characters travelling on a spaceship to somewhere, and
I saw this funny little alien on board.

He's pretty small, like 2 feet or so, and I think he spoke in a rough
English accent, or maybe it was American. He was greenish yellow and
a bit wrinkly, and he had something that looked like a white
moustache. He also had some big whiskery eyebrows. He wore like a
red robe or something and had three fingers.

I just want to know what his name is and what show he is from. If it
helps, also on the same show, there is a big blue alien with many
arms/tentacles that can speak English and controls the ship. It's
benign.

Thanks!