Monkey

Monkeys were primates originating from Earth.

The bandit Kuiju owned a pet monkey which rode on his shoulder. Kublai Khan gave the First Doctor a walking stick with the image of a small monkey scaling the spiraling stem. (DW: Marco Polo) Reverend Ernest Matthews was turned into a monkey by Josiah Samuel Smith as an ironic joke at his disbelief in the evolution of man from monkeys. (DW: Ghost Light)

The Palanth were, in appearance, a cross between a monkey and a cat. (DWAM: Blood and Tears)