Gorilla

A gorilla was a species of ape native to Earth. Lucy Hayward's fear of a gorilla from a book she had read as a child manifested itself in a room on the Minotaur's "hotel". (DW: The God Complex)

Mountain gorillas were included in the listings of The I-Spyder Book of Earth Creatures and were worth 500 points if spotted. (NSA: The Last Dodo)

Other references
Rose Tyler described Darren Pye as looking like a shaved gorilla, "only not as handsome". (NSA: Winner Takes All)

Alien equivalents
The Doctor, John and Gillian encountered alien sabre toothed gorillas. (TVC: The Sabre Toothed Gorillas)