Ape

Apes were a variety of primate native to Earth. Reverend Ernest Matthews was turned into an ape by Josiah Samuel Smith as an ironic joke at his disbelief in the evolution of man from apes. (DW: Ghost Light)

A species of ape known as "Ice Apes" lived under the Antarctic ice cap. (TVC: Ice Cap Terror)

As insult
Silurians such as Restac referred to humans as apes. Alaya indicated that she used to hunt apes for sport. (DW: Cold Blood) In his ninth incarnation, the Doctor called humans "stupid apes" on a few occasions. (DW: Rose, Father's Day)