Monkey

Monkeys were primates originating from Earth.

During the time that the Silurians ruled the Earth, a young Silurian named Kaya kept a monket named Leefa as a pet. (DWA: 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)

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