Camel

Camels were large Earth mammals typically used as beasts of burden in deserts.

The Tenth Doctor and Martha Jones once rode camels in the Egypt of 2375 BC. (DWAN: Minus Seven Wonders)

The Fifth Doctor and Amy encountered a number of camels when the TARDIS crashed in a desert proximate to the city of Dunqulah during their search for the Key to Time. (BFA: The Destroyer of Delights)

Camels were also present off Earth. They were abundant in the Blue Desert on the planet Indigo 3, as the Eighth Doctor and Lucie Miller discovered. (BFA: The Skull of Sobek)