Rhinoceros

Rhinoceroses, or rhinos, were Earth rhinocerotids.

K9 once encountered rhinos 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. (AK9: K9 and the Missing Planet)

The Second Doctor and Jamie once used a herd of animals — which included rhinoceroses — to stampede a group of Quarks. (TVC: Jungle of Doom)

The Seventh Doctor and Ace saw es living in the Ngorogoro Crater in 1926. (DWM: Prelude: Birthright)

The alien species Judoon have a close resemblance to earth rhinos.