Monkey

Monkeys were primates found on Earth. (PROSE: The Long Step Backward)

History
In Cathay in 1289, 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 spiralling stem. (TV: Marco Polo)

In India in 1947, Cameron Campbell was nearly attacked by monkeys which had been mutated by zytron energy, but was rescued by the Tenth Doctor. (PROSE: Ghosts of India)

A team in Swindon had, according to UNIT Staff Sergeant Annie Frederick, "leapt into action like excited monkeys" after the arrival (PROSE: Operation London) of the Ninth Doctor following the London UFO crash. (TV: Aliens of London)

Humans commonly used monkeys for scientific experimentation, as did several teams of which Alex Minin was a member. (PROSE: The Deviant Strain)

The Fourth Doctor and Leela encountered a golden lion tamarin at the London Zoo. It had been mind-controlled by General Secretary Murigan Epinephelus III to steal all the keys to the cages from the zookeepers and set the animals free. (PROSE: Stanley)

In circa 10,000,000, monkeys were among the animals on board the Ark. (PROSE: The Ark) Sophie had dreams of helping orangutans. When the Eleventh Doctor moved into her friend Craig Owens' apartment, he inspired her to follow her dreams. Afterwards, Craig mocked her, saying "Now Sophie's all 'Oh, monkeys, monkeys!'" when he was explaining to the Doctor why he must leave. (TV: The Lodger)

In a jungle on an Earth-like planet, a monkey opened the cage in which the First Doctor, John and Gillian had captured an escaped didus, forcing them to recapture it. (COMIC: The Didus Expedition)

Similar species
The Palanth looked like a cross between a monkey and a cat. (COMIC: Blood and Tears) The Drexxons also were similar in appearance to monkeys, as noted by Amy Pond and Rory Williams. (PROSE: Death Riders) Mokeys were a distant relative of the monkey. (PROSE: Halflife)