Maid Marian

 was a friend of Robin Hood.

Marion met Ian Chesterton and Susan when they tried to rescue her from the dungeon of the Sheriff of Nottingham.

After she was rescued, she promised to keep the dead Robin's memory alive. Her accounts of him became the legends of his adventures. (PROSE: The Thief of Sherwood)

In an alternate timeline where Polly Wright was manipulated into interfering with temporal nexus points, Polly convinced Marion to stand up to Robin. (PROSE: That Time I Nearly Destroyed the World Whilst Looking for a Dress)

After defeating the Sheriff of Nottingham, the Doctor rescued Maid Marion as a gift to Robin Hood, reuniting the two. (TV: Robot of Sherwood)