Robin Hood

Robert, Earl of Loxley, originally a noble, became known as Robin Hood, an outlaw in 12th century England. He was the leader of a band of thieves known as his "Merry Men" which included Little John, Friar Tuck, Will Scarlett, and Alan-a-Dale. (TV: Robot of Sherwood) Their sanctuary was Sherwood Forest outside Nottingham, specifically the Major Oak, which by 2050 became the last oak tree in existence. (TV: The Last Oak Tree)

According to one account, Robin Hood met the First Doctor and his companions Susan, Ian and Barbara. They discovered that Ian Chesterton was a perfect double of Robin Hood. Robin died during an attempt to assault the Nottingham's castle. (PROSE: The Thief of Sherwood)

According to a second account, a skeptic Twelfth Doctor brought Clara Oswald to Sherwood Forest in 1190, in an attempt to disprove Hood's existence.

They immediately met Robin upon their arrival, and helped him defeat the Sheriff of Nottingham and a group of robotic knights. The Doctor accessed the ship's database and discovered a wealth of information on the legend of Robin Hood. Upon leaving, the Doctor reunited Robin with his lover, Marion. (TV: Robot of Sherwood)

Undated/unchronicled events
Robin travelled to the 21st century to recruit Iris Wildthyme so that she could help him save maid Marion. (AUDIO: Wildthyme at Large)

Robin Hood taught the Doctor how to shoot a bow and arrow, and the Fifth Doctor used this knowledge to fight U'thai's warriors. (PROSE: The Immortals)

When facing a virtual recreation of Robin Hood, K9 hinted it had met the real Robin Hood in his first incarnation. (TV: The Last Oak Tree)

Alternate timelines
In an alternate timeline where Polly Wright was manipulated into interfering with temporal nexus points, Polly accidentally saved Robin's life when she kneed him in the groin, causing him to duck and miss a sword cut aimed at his head. (PROSE: That Time I Nearly Destroyed the World Whilst Looking for a Dress)

Later references
Astrolabus claimed to be Robin Hood at one point, but the validity of this claim was unclear. (COMIC: Voyager)

Tegan Jovanka had seen Robin Hood films on television. (PROSE: The Immortals)

In 2050, a museum containing the Major Oak programmed a virtual reality Sherwood Forest and a virtual reality Robin Hood. (TV: The Last Oak Tree)

As a child, Jorjie Turner believed she would marry Robin Hood when she grew up. (TV: The Last Oak Tree)

Behind the scenes

 * A of  the legend of Robin Hood was produced by the BBC, running from 2006 to 2009, as a 13 episode Saturday night drama in the same vein as the then recent revival of Doctor Who. The two shows also share a number of cast and crew members, including writer Paul Cornell.