Lion

Lions were Earth felids.

Ian Chesterton saw a lion while imprisoned in Rome. It was intended that he fight the beast but this event was changed in favour of a duel for Nero. (DW: The Romans)

K9 once encountered lions on an unnamed planet in another dimension, partially inhabited by ex-Tellac miners. They lived alongside other Earth animals from widely varying periods of evolutionary history. On this planet, prides of lions lived around acacia trees, males in the branches, females in the shade underneath. (AK9: K9 and the Missing Planet)

The Tenth Doctor tickled a lion with sonic waves from his sonic screwdriver. (NSA: The Slitheen Excursion)

Cultural references to lions

 * The Lion, the Witch and the Wardrobe was a book by C. S. Lewis. (DWM: The Professor, the Queen and the Bookshop)
 * In Pete's World, Mr Crane had "track 90" played once large-scale cyber-conversion was underway in London. This song referred to sleeping lions. (DW: Rise of the Cybermen)