Chariot

A chariot was a type of carriage, usually drawn by a horse or perhaps a small team of horses. It pulled one passenger in a standing position, and was often used in battle.

The Second Doctor, Jamie McCrimmon and Zoe Heriot encountered Romans on chariots when they crossed into the Roman Time Zone on a planet controlled by the War Lords. (TV: The War Games)

On the planet Olympus, Prometheus made use of Helius's chariot to get the Fourth Doctor, K9 and himself back to the TARDIS. (COMIC: The Life Bringer)

When in the Fifth Doctor and Peri Brown arrived in Thebes, Egypt in ca. 1400 BC, they rescued Erimem from a runaway chariot. (AUDIO: The Eye of the Scorpion)

When in ancient Egypt, Rory Williams drove his wife Amy Pond and the Eleventh Doctor in a chariot through busy city streets while pursued by Egyptian soldiers. Rory was able to drive a chariot due to his time as a Roman soldier. (COMIC: Assimilation²)

Babylon's army contained many chariots. These chariots were mobilised against the invading Starman. (PROSE: The Beast of Babylon)

Behind the scenes
Dr. Who and the Daleks, which this wiki does not count as a valid source, ends with Roman soldiers in chariots bearing down on the protagonists, newly arrived in ancient times from their adventures on Skaro.