Camel

Camels were large Earth mammals typically used as beasts of burden in deserts. Like sheep or cattle, they were herded. In some parts of the world, it was extremely commonplace to see camel-herders tending to their flock. Indeed, Cameron Campbell once travelled in rural India and was disturbed by the fact he couldn't see even a single camel-herder at work. (NSA: Ghosts of India)

Encounters with camels
The Tenth Doctor and Martha Jones once rode camels in the Egypt of 2375 BC. (DWAN: Minus Seven Wonders)

The Fifth Doctor and Amy encountered a number of camels when the TARDIS crashed in a desert proximate to the city of Dunqulah during their search for the Key to Time. (BFA: The Destroyer of Delights)

Camels off Earth
Camels were also present off Earth. They were abundant in the Blue Desert on the planet Indigo 3, as the Eighth Doctor and Lucie Miller discovered. (BFA: The Skull of Sobek)