In this answer we will construct a solution using propositional logic.
First, let's see how to formalize this problem. We call the three distinct persons $\;B1,B2,B3\;$ (for Berkove), exactly one of them is $\;Th\;$ (the thief), and exactly one of them is $\;Do\;$ (Doctor). For any person $\;x\;$, we have
$$
(0) \;\;\; x\text{ says }p \;\Rightarrow\; (x \ne Do \;\Rightarrow\; \lnot p)
$$
in other words, every non-Doctor is a consistent liar.
Applying $(0)$ three times, Derek knows that
\begin{align}
(1) \;\;\; & B1 \ne Do \;\Rightarrow\; B2 \ne Th \\
(2) \;\;\; & B2 \ne Do \;\Rightarrow\; B1 \ne Th \\
(3) \;\;\; & B3 \ne Do \;\Rightarrow\; (q \not\equiv a) \\
\end{align}
where $\;q\;$ is a boolean expression representing the last question, and $\;a\;$ is either $\;\text{true}\;$ for "yes" or $\;\text{false}\;$ for "no".
And from these, it is possible for Derek to deduce who is the thief. So formally, we are asked to find some $\;x,q,a\;$ for which
$$
(4) \;\;\; (1) \land (2) \land (3) \;\Rightarrow\; x = Th
$$
Now to a solution. From $(1)$ and $(2)$ and the distinctness of the persons it is clear that
\begin{align}
& B3 = Do \\
\equiv & \;\;\;\;\;\text{"$\;B1,B2,B3\;$ are distinct"} \\
& B1 \ne Do \;\land\; B2 \ne Do \\
\Rightarrow & \;\;\;\;\;\text{"(1); (2)"} \\
& B2 \ne Th \;\land\; B1 \ne Th \\
\equiv & \;\;\;\;\;\text{"$\;B1,B2,B3\;$ are distinct"} \\
& B3 = Th \\
\end{align}
or in other words
$$
(5) \;\;\; B3 = Do \;\Rightarrow\; B3 = Th \\
$$
Using this to rewrite our goal $(4)$, we are given $(1)$ and $(2)$, and therefore $(5)$, and we are asked to solve
$$
(4') \;\;\; B3 = Do \;\lor\; (q \not\equiv a) \;\Rightarrow\; x = Th
$$
for $\;x,q,a\;$. We calculate
\begin{align}
& B3 = Do \;\lor\; (q \not\equiv a) \;\Rightarrow\; x = Th \;\;\;\;\;\text{-- $(4')$} \\
\equiv & \;\;\;\;\;\text{"logic: split $\;\Rightarrow\;$ on antecedent"} \\
& (B3 = Do \;\Rightarrow\; x = Th) \;\land\; ((q \not\equiv a) \;\Rightarrow\; x = Th) \\
\equiv & \;\;\;\;\;\text{"choose $\;x = B3\;$ -- strongly suggested by $(5)$"} \\
& (B3 = Do \;\Rightarrow\; B3 = Th) \;\land\; ((q \not\equiv a) \;\Rightarrow\; x = Th) \\
\equiv & \;\;\;\;\;\text{"logic: use (5) and simplify; rewrite $\;p \Rightarrow q\;$ as $\;\lnot p \lor q\;$"} \\
& (q \equiv a) \;\lor\; B3 = Th \\
\equiv & \;\;\;\;\;\text{"choose $\;q \;\equiv\; B3 = Th\;$ and $\;a \equiv \text{false}\;$} \\
& \;\;\;\;\;\phantom"\text{-- it seems simplest to go for the excluded middle"} \\
& (B3 = Th \;\equiv\; \text{false}) \;\lor\; B3 = Th \\
\equiv & \;\;\;\;\;\text{"logic: rewrite $\;p \equiv \text{false}\;$ as $\;\lnot p\;$; excluded middle"} \\
& \text{true} \\
\end{align}
Therefore we have found $\;x,q,a\;$ which satisfy $(4')$ and therefore $(4)$. This solution is that #3 ($\;B3\;$) is the thief; the question ($\;B3 = Th\;$) is, "Are you the thief?"; and the answer ($\;\text{false}\;$) is, "No."
Update. Another answer to this question pointed me to an even simpler solution, one where both $\;q\;$ and $\;a\;$ are $\;\text{true}\;$: Derek asked, "Does 1+1=2?" with the answer, "Yes." Or make both $\;\text{false}\;$: "2+2=5?" "No."