Anthropoid

Anthropoid was term to describe human-like or ape-like creatures.

The Controller described the Ogrons as "a form of higher anthropoid". (TV: Day of the Daleks)

The Felinetta referred to humanoids as "anthropoids." (PROSE: Invasion of the Cat-People)

The Jekkari were large anthropoid creatures, much larger than a human. They had no vocal cords and were unable to speak. (PROSE: Shakedown)

The Hadax Ura cybernetically modified the anthropoids indigenous to the planet Unnamed BX-4 to use as scouts for its army. (COMIC: Spirits of the Jungle)