Lobster

Lobsters were crustaceans from Earth, famously made into meals.

According to Eugene Jones, twenty eight centimetres per second was the top speed of a lone lobster. (TV: Random Shoes)

As food
Professor Rubeish mentioned lobsters among several foods as one of the reasons he wanted to get back to the 20th century. (TV: The Time Warrior)

Lobsters were among the food eaten by Shockeye and the Second Doctor, partially converted into an Androgum, on Las Cadenas, a Spanish restaurant, during the year 1987. (TV: The Two Doctors)

Lobster was on the menu of the Old Custom House. (PROSE: Bay of the Dead)

History
The planet Karim was inhabited by a species which looked like lobsters. (PROSE: Mad Dogs and Englishmen)