Pterodactyl

An unknown species of Pterodactyls appeared in London during the events of Operation Golden Age. These Pterodactyls were brown, aggressive, hawk-sized creatures who attacked the Doctor and Sarah Jane Smith in a pack. Another Pterodactyl was released near the Doctor when he was getting too close to Professor Whitaker's base. (DW: Invasion of the Dinosaurs)

Torchwood 3's mascot was also arguably was a pterodactyl.

Behind the Scenes
Technically, pterodactyls were not dinosaurs, but are often cited as dinosaurs in the popular imagination.