Ape

Apes were a variety of primate native to Earth, evolutionarily close to humans. Reverend Ernest Matthews was turned into an ape by Josiah Samuel Smith because he didn't believe that man evolved from apes. (DW: Ghost Light) This sentiment was not shared by the Silurians, who had witnessed the evolution, and therefore frequently called humans "apes". (DWM: Twilight of the Silurians, DWM: Doctor Who and the Silurians, Cold Blood, and many others)

A species of ape known as "Ice Apes" lived under the Antarctic ice cap. (TVC: Ice Cap Terror)

As insult
Silurians referred to humans as apes. Alaya indicated that she used to hunt apes for sport. Other Silurians would simply use a virus on them. (DW: Cold Blood, Doctor Who and the Silurians) In his ninth incarnation, the Doctor called humans "stupid apes" on a few occasions. (DW: Rose, Father's Day)