12th century

The 12th century was perhaps most associated with the rise of Robin Hood, the reign of Richard the Lionheart and the waging of the Crusades in Palestine. Two accounts reported a rendezvous between the Doctor (and some of his companions) and Robin Hood and his Merry Men. (PROSE: The Thief of Sherwood, TV: Robot of Sherwood)

The First Doctor, Ian, Barbara and Vicki landed near Jerusalem and found themselves caught between the camps of Richard I and Saladin. (TV: The Crusade)

It was also among the centuries endured by Ashildr, later known as "Lady Me", an 9th century Viking girl who was rendered effectively immortal when she was brought back to life by the Twelfth Doctor through a self-repairing Mire medical kit. (TV: The Woman Who Lived)