Monkey

Monkeys were primates originating on Earth.

When Silurians ruled the Earth, a young Silurian named Kaya kept a monkey named Leefa as a pet. (DWAN: The Little Planet)

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)

Humans commonly used monkeys for scientific experimentation, as did several teams of which Alex Minin was a part. (NSA: The Deviant Strain)

The Palanth were, in appearance, a cross between a monkey and a cat. (DWA: Blood and Tears) The Drexxons too were similar in appearance to monkeys, as noted by Amy and Rory. (NSA: Death Riders)