Cleopatra

Cleopatra (69-40 BC) was queen of Egypt and the consort of Mark Antony.

The Doctor claimed to have learned swordsmanship from a captain in Cleopatra's bodyguard. (DW: The Masque of Mandragora)

The Doctor and Peri watched Cleopatra's barge on the Nile. (MA: State of Change)

Mickey Smith claimed that the Doctor was romantically involved with Cleopatra for a while, and that he affectionately called her "Cleo." (DW: The Girl in the Fireplace)

On the alternate Earth of Terra Nova, Cleopatra and Mark Antony won the battle of Actium and had three children. (MA: State of Change)